{
    "hand_over": "Use the left arm to pick up the gray plate on the table, and hand it over to the right arm and place it on the table.",
    "pick_cube": "Pick up the red cube, green cube, and purple cube on the table and put them on the gray plate one by one.",
    "pour": "Pick the orange bowl and put it at the center of the table, then pick the blue bowl and pour the little silver balls into the orange bowl.",
    "stack_bowl": "Grasp the orange bowl and place it at the center of the table, and then grasp the blue bowl and stack it on the orange bowl.",
    "stack_cube": "Grasp the red cube and place it at the center of the table, then grasp the green cube and stack it on top of the red cube."
}