robocasa_data/robocasa_composite_to_atomic_decomposition.json

{
  "metadata": {
    "description": "Decomposition of RoboCasa composite tasks into atomic tasks",
    "total_composite_tasks": 86,
    "total_atomic_tasks": 25,
    "date_created": "2026-02-10",
    "source": "https://robocasa.ai/docs/tasks_scenes_assets/composite_tasks.html",
    "notes": "Each composite task is decomposed into a sequence of atomic tasks. Some tasks require creative mapping due to the constraint that there is no 'PickPlaceCounterToCounter' atomic task."
  },
  "atomic_tasks": {
    "PnPCounterToCab": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
    "PnPCabToCounter": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
    "PnPCounterToSink": "Pick an object from the counter and place it in the sink.",
    "PnPSinkToCounter": "Pick an object from the sink and place it on the counter area next to the sink.",
    "PnPCounterToMicrowave": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
    "PnPMicrowaveToCounter": "Pick an object from inside the microwave and place it on the counter. The microwave door is already open.",
    "PnPCounterToStove": "Pick an object from the counter and place it in a pan or pot on the stove.",
    "PnPStoveToCounter": "Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter.",
    "OpenSingleDoor": "Open a microwave door or a cabinet with a single door.",
    "CloseSingleDoor": "Close a microwave door or a cabinet with a single door.",
    "OpenDoubleDoor": "Open a cabinet with two opposite-facing doors.",
    "CloseDoubleDoor": "Close a cabinet with two opposite-facing doors.",
    "OpenDrawer": "Open a drawer.",
    "CloseDrawer": "Close a drawer.",
    "TurnOnSinkFaucet": "Turn on the sink faucet to begin the flow of water.",
    "TurnOffSinkFaucet": "Turn off the sink faucet to stop the flow of water.",
    "TurnSinkSpout": "Turn the sink spout.",
    "TurnOnStove": "Turn on a specified stove burner by twisting the respective stove knob.",
    "TurnOffStove": "Turn off a specified stove burner by twisting the respective stove knob.",
    "CoffeeSetupMug": "Pick the mug from the counter and insert it onto the coffee machine mug holder area.",
    "CoffeeServeMug": "Remove the mug from the coffee machine mug holder and place it on the counter.",
    "CoffeePressButton": "Press the button on the coffee machine to pour coffee into the mug.",
    "TurnOnMicrowave": "Turn on the microwave by pressing the start button.",
    "TurnOffMicrowave": "Turn off the microwave by pressing the stop button.",
    "NavigateKitchen": "Navigate to a specified appliance in the kitchen."
  },
  "composite_task_decompositions": {
    "PastryDisplay": {
      "category": "Baking",
      "description": "Place the pastries on the plates.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first pastry from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first pastry on plate"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second pastry from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second pastry on another plate"
        }
      ],
      "num_steps": 4,
      "notes": "Since there is no PickPlaceCounterToCounter, using sink as intermediate location to move pastries from one counter location to plates on another counter location."
    },
    "OrganizeBakingIngredients": {
      "category": "Baking",
      "description": "Place the eggs and milk next to the bowl.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick eggs from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place eggs next to bowl"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick milk from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place milk next to bowl"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location to reorganize items on counter."
    },
    "CupcakeCleanup": {
      "category": "Baking",
      "description": "Move the fresh-baked cupcake off the tray onto the counter, and place the bowl used for mixing into the sink.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cupcake from tray on counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cupcake on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bowl from counter, place in sink"
        }
      ],
      "num_steps": 3
    },
    "FillKettle": {
      "category": "Boiling",
      "description": "Open the cabinet, pick the kettle from the cabinet, and place it in the sink.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick kettle from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick kettle from counter, place in sink"
        }
      ],
      "num_steps": 3,
      "notes": "Since there is no PickPlaceCabinetToSink, using counter as intermediate location."
    },
    "HeatMultipleWater": {
      "category": "Boiling",
      "description": "Pick the kettle from the cab and place it on a stove burner. Then pick the pot from the counter and place on another stove burner. Finally, turn both burners on.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick kettle from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick kettle from counter, place on stove burner"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick pot from counter, place on another stove burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner under kettle"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner under pot"
        }
      ],
      "num_steps": 5
    },
    "VeggieBoil": {
      "category": "Boiling",
      "description": "Pick up the pot and place it in the sink. Then turn on the sink faucet and let the pot fill up with water. Then turn the sink faucet off and move the pot to the stove. Lastly, turn on the stove and place the food in the pot for boiling.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick pot from counter, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on water to fill pot"
        },
        {
          "task": "TurnOffSinkFaucet",
          "description": "Turn off the sink faucet to stop the flow of water.",
          "specific_action": "Turn off water after pot is filled"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick pot from sink, place on counter temporarily"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Move pot from counter to stove burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner under pot"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick food from counter, place in pot on stove"
        }
      ],
      "num_steps": 7
    },
    "KettleBoiling": {
      "category": "Brewing",
      "description": "Pick the kettle from the counter and place it on a stove burner. Then turn the burner on.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick kettle from counter, place on stove burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner under kettle"
        }
      ],
      "num_steps": 2
    },
    "ArrangeTea": {
      "category": "Brewing",
      "description": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick kettle from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place kettle on tray"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick mug from cabinet, place on tray (counter)"
        },
        {
          "task": "CloseDoubleDoor",
          "description": "Close a cabinet with two opposite-facing doors.",
          "specific_action": "Close the cabinet doors"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location to move kettle from one counter location (original position) to another (tray)."
    },
    "PrepareCoffee": {
      "category": "Brewing",
      "description": "Pick the mug from the cabinet, place it under the coffee machine dispenser, and press the start button.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "pick the mug from the cabinet and place it on the counter.",
          "specific_action": "pick the mug from the cabinet and place it on the counter."
        },
        {
          "task": "CoffeeSetupMug",
          "description": "pick the mug from the counter and place it under the coffee machine dispenser",
          "specific_action": "pick the mug from the counter and place it under the coffee machine dispenser"
        },
        {
          "task": "CoffeePressButton",
          "description": "press the button on the coffee machine to serve coffee",
          "specific_action": "press the button on the coffee machine to serve coffee"
        }
      ],
      "num_steps": 3
    },
    "ArrangeVegetables": {
      "category": "Chopping Food",
      "description": "Pick the vegetables from the sink and place them on the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPSinkToCounter",
          "description": "Pick the [OBJECT] from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick the [OBJECT] from sink, place on cutting board"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick the [OBJECT] from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick the [OBJECT] from sink, place on cutting board"
        }
      ],
      "num_steps": 2,
      "notes": "Assuming multiple vegetables need to be moved; actual count may vary."
    },
    "OrganizeVegetables": {
      "category": "Chopping Food",
      "description": "Place the vegetables on separate cutting boards.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first vegetable on first cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second vegetable on second cutting board"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location to organize vegetables onto separate cutting boards."
    },
    "BreadSetupSlicing": {
      "category": "Chopping Food",
      "description": "Place all breads on the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first bread on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second bread on cutting board"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location. Actual number of breads may vary."
    },
    "ClearingTheCuttingBoard": {
      "category": "Chopping Food",
      "description": "Clear the non-vegetable object off the cutting board and place the vegetables onto it.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick non-vegetable object from cutting board, move it away"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place non-vegetable object on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first vegetable on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second vegetable on cutting board"
        }
      ],
      "num_steps": 6
    },
    "MeatTransfer": {
      "category": "Chopping Food",
      "description": "Retrieve the container from the cabinet, then place the raw meat into the container to avoid contamination.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick container from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick raw meat from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place raw meat into container on counter"
        }
      ],
      "num_steps": 3,
      "notes": "Using sink as intermediate location to place meat into container."
    },
    "CondimentCollection": {
      "category": "Clearing Table",
      "description": "Pick the condiments from the counter and place them in the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first condiment from counter, place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second condiment from counter, place in cabinet"
        }
      ],
      "num_steps": 2,
      "notes": "Assuming multiple condiments; actual count may vary."
    },
    "DessertAssembly": {
      "category": "Clearing Table",
      "description": "Pick up the container with dessert and place it on the tray. Pick up the cupcake and place it on the tray.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick container with dessert from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place container on tray"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cupcake from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cupcake on tray"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location to assemble items on tray."
    },
    "ClearingCleaningReceptacles": {
      "category": "Clearing Table",
      "description": "Pick the receptacles and place them in the sink. Then turn on the water.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first receptacle from counter, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second receptacle from counter, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on water"
        }
      ],
      "num_steps": 3
    },
    "CandleCleanup": {
      "category": "Clearing Table",
      "description": "Pick the decorations from the dining table and place them in the open cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first decoration from dining table (counter), place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second decoration from dining table (counter), place in cabinet"
        }
      ],
      "num_steps": 2,
      "notes": "Treating dining table as counter location."
    },
    "FoodCleanup": {
      "category": "Clearing Table",
      "description": "Pick the food items from the counter and place them in the cabinet. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first food item from counter, place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second food item from counter, place in cabinet"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 3
    },
    "DrinkwareConsolidation": {
      "category": "Clearing Table",
      "description": "Pick the drinks from the island and place them in the open cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first drink from island (counter), place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second drink from island (counter), place in cabinet"
        }
      ],
      "num_steps": 2,
      "notes": "Treating island as counter location."
    },
    "BowlAndCup": {
      "category": "Clearing Table",
      "description": "Place the cup inside the bowl on the island and move the bowl to any counter.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cup from island (counter)"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cup inside bowl on island"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bowl (with cup) from island"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Move bowl to counter"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location for counter-to-counter transfer."
    },
    "ThawInSink": {
      "category": "Defrosting Food",
      "description": "Pick the object from the counter and place it in the sink. Then turn on the sink faucet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick frozen object from counter, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on sink faucet"
        }
      ],
      "num_steps": 2
    },
    "MicrowaveThawing": {
      "category": "Defrosting Food",
      "description": "Pick the food from the counter and place it in the microwave. Then turn on the microwave.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPCounterToMicrowave",
          "description": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
          "specific_action": "Pick food from counter, place in microwave"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close microwave door"
        },
        {
          "task": "TurnOnMicrowave",
          "description": "Turn on the microwave by pressing the start button.",
          "specific_action": "Turn on microwave"
        }
      ],
      "num_steps": 4
    },
    "QuickThaw": {
      "category": "Defrosting Food",
      "description": "Frozen meat rests on a plate on the counter. Retrieve the meat and place it in a pot on a burner. Then turn the burner on.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick frozen meat from plate on counter, place in pot on burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn burner on"
        }
      ],
      "num_steps": 2
    },
    "DefrostByCategory": {
      "category": "Defrosting Food",
      "description": "There is a mixed pile of frozen fruits and vegetables on the counter. Locate all the frozen vegetables and place the items in a bowl on the counter. Take all the frozen fruits and defrost them in a running sink.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first vegetable from pile"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first vegetable in bowl on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second vegetable from pile"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second vegetable in bowl on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first fruit from pile, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second fruit from pile, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on sink to defrost fruits"
        }
      ],
      "num_steps": 7,
      "notes": "Assuming 2 vegetables and 2 fruits; actual count may vary."
    },
    "SetupFrying": {
      "category": "Frying",
      "description": "Pick the pan from the cabinet and place it on the stove. Then turn on the stove burner for the pan.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick pan from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick pan from counter, place on stove burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner under pan"
        }
      ],
      "num_steps": 3,
      "notes": "Using counter as intermediate location since there is no PickPlaceCabinetToStove."
    },
    "FryingPanAdjustment": {
      "category": "Frying",
      "description": "Pick and place the pan from the current burner to another burner and turn the burner on.",
      "atomic_sequence": [
        {
          "task": "PnPStoveToCounter",
          "description": "Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter.",
          "specific_action": "Pick pan from current burner, place on counter"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick pan from counter, place on another burner"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on the new burner"
        }
      ],
      "num_steps": 3,
      "notes": "Using counter as intermediate location for stove-to-stove transfer."
    },
    "MealPrepStaging": {
      "category": "Frying",
      "description": "Place both pans onto different burners. Then place the vegetable and the meat on different pans.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick first pan from counter, place on first burner"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick second pan from counter, place on second burner"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick vegetable from counter, place in first pan"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick meat from counter, place in second pan"
        }
      ],
      "num_steps": 4
    },
    "AssembleCookingArray": {
      "category": "Frying",
      "description": "Move the meat onto the pan on the stove. Then move the condiment and vegetable from the cabinet to the counter where the plate is.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick meat from counter, place on pan on stove"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick condiment from cabinet, place on counter near plate"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick vegetable from cabinet, place on counter near plate"
        }
      ],
      "num_steps": 3
    },
    "SearingMeat": {
      "category": "Frying",
      "description": "Grab the pan from the cabinet and place it on the burner on the stove. Then place the meat on the stove and turn the burner on.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick pan from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick pan from counter, place on burner"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick meat from counter, place in pan on stove"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner"
        }
      ],
      "num_steps": 4
    },
    "PrepareToast": {
      "category": "Making Toast",
      "description": "Pick the bread, place it on the cutting board, pick the jam, place it on the counter, and close the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bread on cutting board"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick jam from cabinet, place on counter"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close cabinet"
        }
      ],
      "num_steps": 4
    },
    "SweetSavoryToastSetup": {
      "category": "Making Toast",
      "description": "Pick the avocado and bread from the counter and place them on the plate. Then pick the jam from the cabinet and place it next to the plate. Lastly, close the cabinet door.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick avocado from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place avocado on plate"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bread on plate"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick jam from cabinet, place next to plate"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close cabinet door"
        }
      ],
      "num_steps": 6
    },
    "CheesyBread": {
      "category": "Making Toast",
      "description": "Pick up the wedge of cheese and place it on the slice of bread to prepare a simple cheese on bread dish.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cheese from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cheese on bread"
        }
      ],
      "num_steps": 2,
      "notes": "Using sink as intermediate location for counter-to-counter placement."
    },
    "BreadSelection": {
      "category": "Making Toast",
      "description": "From the different types of pastries on the counter, select a croissant and place it on the cutting board. Then retrieve a jar of jam from the cabinet and place it alongside the croissant on the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick croissant from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place croissant on cutting board"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick jam from cabinet, place on cutting board next to croissant"
        }
      ],
      "num_steps": 3
    },
    "PrepMarinatingMeat": {
      "category": "Meat Preparation",
      "description": "Pick the meat from its container and place it on the cutting board. Then pick the condiment from the cabinet and place it next to the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick meat from container on counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place meat on cutting board"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick condiment from cabinet, place next to cutting board"
        }
      ],
      "num_steps": 3
    },
    "PrepForTenderizing": {
      "category": "Meat Preparation",
      "description": "Retrieve a rolling pin from the cabinet and place it next to the meat on the cutting board to prepare for tenderizing.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick rolling pin from cabinet, place next to meat on cutting board"
        }
      ],
      "num_steps": 1
    },
    "SetupJuicing": {
      "category": "Mixing and Blending",
      "description": "Open the cabinet, pick all fruits from the cabinet and place them on the counter.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick first fruit from cabinet, place on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick second fruit from cabinet, place on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick third fruit from cabinet, place on counter"
        }
      ],
      "num_steps": 4,
      "notes": "Assuming 3 fruits; actual count may vary."
    },
    "ColorfulSalsa": {
      "category": "Mixing and Blending",
      "description": "Place the avocado, onion, tomato and bell pepper on the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick avocado from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place avocado on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick onion from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place onion on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick tomato from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place tomato on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bell pepper from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bell pepper on cutting board"
        }
      ],
      "num_steps": 8
    },
    "SpicyMarinade": {
      "category": "Mixing and Blending",
      "description": "Open the cabinet. Place the bowl and condiment on the counter. Then place the lime and garlic on the cutting board.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick bowl from cabinet, place on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick condiment from cabinet, place on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick lime from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place lime on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick garlic from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place garlic on cutting board"
        }
      ],
      "num_steps": 7
    },
    "HeatMug": {
      "category": "Reheating Food",
      "description": "Pick the mug from the cabinet and place it inside the microwave. Then close the microwave.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick mug from cabinet, place on counter"
        },
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPCounterToMicrowave",
          "description": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
          "specific_action": "Pick mug from counter, place in microwave"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close microwave door"
        }
      ],
      "num_steps": 4
    },
    "SimmeringSauce": {
      "category": "Reheating Food",
      "description": "Place the pan on the burner on the stove. Then place the tomato and the onion in the pan and turn on the burner.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick pan from counter, place on burner"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick tomato from counter, place in pan"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick onion from counter, place in pan"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on burner"
        }
      ],
      "num_steps": 4
    },
    "WaffleReheat": {
      "category": "Reheating Food",
      "description": "Open the microwave, place the bowl with waffle inside the microwave, then close the microwave door and turn it on.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPCounterToMicrowave",
          "description": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
          "specific_action": "Pick bowl with waffle from counter, place in microwave"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close microwave door"
        },
        {
          "task": "TurnOnMicrowave",
          "description": "Turn on the microwave by pressing the start button.",
          "specific_action": "Turn on microwave"
        }
      ],
      "num_steps": 4
    },
    "WarmCroissant": {
      "category": "Reheating Food",
      "description": "Pick the croissant and place it on the pan. Then turn on the stove to warm the croissant.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick croissant from counter, place on pan on stove"
        },
        {
          "task": "TurnOnStove",
          "description": "Turn on a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn on stove to warm croissant"
        }
      ],
      "num_steps": 2
    },
    "MakeLoadedPotato": {
      "category": "Reheating Food",
      "description": "Retrieve the reheated potato from the microwave, then place it on the cutting board along with cheese and a bottle of condiment.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPMicrowaveToCounter",
          "description": "Pick an object from inside the microwave and place it on the counter. The microwave door is already open.",
          "specific_action": "Pick potato from microwave, place on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cheese from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cheese on cutting board with potato"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick condiment bottle from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place condiment on cutting board with potato"
        }
      ],
      "num_steps": 6
    },
    "RestockPantry": {
      "category": "Restocking Supplies",
      "description": "Pick the cans from the counter and place them in their designated side in the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first can from counter, place in designated side of cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second can from counter, place in designated side of cabinet"
        }
      ],
      "num_steps": 2
    },
    "StockingBreakfastFoods": {
      "category": "Restocking Supplies",
      "description": "Pick the packaged foods from the counter and place them in the cabinets closest to them.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first packaged food from counter, place in closest cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second packaged food from counter, place in closest cabinet"
        }
      ],
      "num_steps": 2
    },
    "RestockBowls": {
      "category": "Restocking Supplies",
      "description": "Open the cabinet. Pick the bowls from the counter and place them in the cabinet directly in front. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first bowl from counter, place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second bowl from counter, place in cabinet"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 4
    },
    "BeverageSorting": {
      "category": "Restocking Supplies",
      "description": "Sort all alcoholic drinks to one cabinet, and non-alcoholic drinks to the other.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first alcoholic drink from counter, place in alcoholic cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second alcoholic drink from counter, place in alcoholic cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick first non-alcoholic drink from counter, place in non-alcoholic cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick second non-alcoholic drink from counter, place in non-alcoholic cabinet"
        }
      ],
      "num_steps": 4,
      "notes": "Assuming 2 drinks of each type; actual count may vary."
    },
    "PushUtensilsToSink": {
      "category": "Sanitize Surface",
      "description": "Push the utensils into the sink.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first utensil from counter, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second utensil from counter, place in sink"
        }
      ],
      "num_steps": 2,
      "notes": "Assuming multiple utensils; actual count may vary."
    },
    "PrepForSanitizing": {
      "category": "Sanitize Surface",
      "description": "Pick the cleaning supplies from the cabinet and place them on the counter.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick first cleaning supply from cabinet, place on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick second cleaning supply from cabinet, place on counter"
        }
      ],
      "num_steps": 2
    },
    "CleanMicrowave": {
      "category": "Sanitize Surface",
      "description": "Open the microwave. Then pick the sponge from the counter and place it in the microwave.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPCounterToMicrowave",
          "description": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
          "specific_action": "Pick sponge from counter, place in microwave"
        }
      ],
      "num_steps": 2
    },
    "CountertopCleanup": {
      "category": "Sanitize Surface",
      "description": "Pick the fruit and vegetable from the counter and place them in the cabinet. Then open the drawer and pick the cleaner and sponge from the drawer and place them on the counter.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick fruit from counter, place in cabinet"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick vegetable from counter, place in cabinet"
        },
        {
          "task": "OpenDrawer",
          "description": "Open a drawer.",
          "specific_action": "Open the drawer"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cleaner from drawer (treated as counter)"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cleaner on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick sponge from drawer (treated as counter)"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place sponge on counter"
        }
      ],
      "num_steps": 7,
      "notes": "Treating drawer as counter for pick operations, using sink as intermediate for placement."
    },
    "WineServingPrep": {
      "category": "Serving Food",
      "description": "Open the cabinet directly in front. Then move the alcohol and the cup to the counter with the decoration on it.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick alcohol from cabinet, place on counter with decoration"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick cup from cabinet, place on counter with decoration"
        }
      ],
      "num_steps": 3
    },
    "ServeSteak": {
      "category": "Serving Food",
      "description": "Pick up the pan with the steak in it and place it on the dining table. Then place the steak on the plate.",
      "atomic_sequence": [
        {
          "task": "PnPStoveToCounter",
          "description": "Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter.",
          "specific_action": "Pick pan with steak from stove, place on dining table (counter)"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick steak from pan on dining table"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place steak on plate on dining table"
        }
      ],
      "num_steps": 3,
      "notes": "Treating dining table as counter. Using sink as intermediate for steak placement."
    },
    "PlaceFoodInBowls": {
      "category": "Serving Food",
      "description": "Pick both bowls and place them on the counter. Then pick the food and place it in one bowl and pick the other food and place it in the other bowl.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first bowl from original position"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first bowl on designated counter location"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second bowl from original position"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second bowl on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first food item from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first food item in first bowl"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second food item from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second food item in second bowl"
        }
      ],
      "num_steps": 8
    },
    "DessertUpgrade": {
      "category": "Serving Food",
      "description": "Move the dessert items from the plate to the tray.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first dessert item from plate"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first dessert item on tray"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second dessert item from plate"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second dessert item on tray"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location for counter-to-counter transfer."
    },
    "PrepareSoupServing": {
      "category": "Serving Food",
      "description": "Open the cabinet and move the ladle to the pot. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick ladle from cabinet, place on counter temporarily"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick ladle from counter, place in pot"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 4,
      "notes": "Using counter as intermediate location between cabinet and pot."
    },
    "PanTransfer": {
      "category": "Serving Food",
      "description": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.",
      "atomic_sequence": [
        {
          "task": "PnPStoveToCounter",
          "description": "Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter.",
          "specific_action": "Pick vegetables from pan on stove, place on plate on counter"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick empty pan from counter, return to stove"
        }
      ],
      "num_steps": 2,
      "notes": "PnPStoveToCounter interprets as moving contents from pan to plate."
    },
    "DateNight": {
      "category": "Setting the Table",
      "description": "Pick up the decoration and the alcohol in the cabinet and move them to the dining counter.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick decoration from cabinet, place on dining counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick alcohol from cabinet, place on dining counter"
        }
      ],
      "num_steps": 2
    },
    "ArrangeBreadBasket": {
      "category": "Setting the Table",
      "description": "Open the cabinet, pick up the bread from the cabinet and place it in the bowl. Then move the bowl to the dining counter.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick bread from cabinet, place on counter temporarily"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bread in bowl on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bowl (with bread) from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Move bowl to dining counter"
        }
      ],
      "num_steps": 6
    },
    "SeasoningSpiceSetup": {
      "category": "Setting the Table",
      "description": "Move the condiments from the cabinet to the dining counter.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick first condiment from cabinet, place on dining counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick second condiment from cabinet, place on dining counter"
        }
      ],
      "num_steps": 2
    },
    "SetBowlsForSoup": {
      "category": "Setting the Table",
      "description": "Move the bowls from the cabinet to the plates on the dining table.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick first bowl from cabinet, place on plate on dining table (counter)"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick second bowl from cabinet, place on plate on dining table (counter)"
        }
      ],
      "num_steps": 2,
      "notes": "Treating dining table as counter location."
    },
    "BeverageOrganization": {
      "category": "Setting the Table",
      "description": "Move the drinks to the dining counter.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first drink from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first drink on dining counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second drink from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second drink on dining counter"
        }
      ],
      "num_steps": 4,
      "notes": "Using sink as intermediate location for counter-to-counter transfer."
    },
    "SizeSorting": {
      "category": "Setting the Table",
      "description": "Stack the cups/bowls from largest to smallest.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick largest cup/bowl"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place largest at base of stack location"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick medium cup/bowl"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Stack medium on largest"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick smallest cup/bowl"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Stack smallest on top"
        }
      ],
      "num_steps": 6,
      "notes": "Assuming 3 items; actual count may vary."
    },
    "CerealAndBowl": {
      "category": "Snack Preparation",
      "description": "Open the cabinet. Pick the cereal and bowl from the cabinet and place them on the counter. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick cereal from cabinet, place on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick bowl from cabinet, place on counter"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 4
    },
    "BreadAndCheese": {
      "category": "Snack Preparation",
      "description": "Place the bread and cheese on the cutting board.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bread from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bread on cutting board"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick cheese from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place cheese on cutting board"
        }
      ],
      "num_steps": 4
    },
    "YogurtDelightPrep": {
      "category": "Snack Preparation",
      "description": "Place the yogurt and fruit onto the counter.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick the yogurt from the cabinet and place it on the counter",
          "specific_action": "Pick the yogurt from the cabinet and place it on the counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick the [OBJECT] from the cabinet and place it on the counter",
          "specific_action": "Pick the [OBJECT] from the cabinet and place it on the counter"
        }
      ],
      "num_steps": 2
    },
    "MakeFruitBowl": {
      "category": "Snack Preparation",
      "description": "Open the cabinet. Pick the fruits from the cabinet and place them into the bowl. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick first fruit from cabinet, place in bowl on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick second fruit from cabinet, place in bowl on counter"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick third fruit from cabinet, place in bowl on counter"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 5,
      "notes": "Assuming 3 fruits; actual count may vary."
    },
    "VeggieDipPrep": {
      "category": "Snack Preparation",
      "description": "Place the two vegetables and a bowl onto the tray for setting up a vegetable dip station.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place first vegetable on tray"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place second vegetable on tray"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bowl from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bowl on tray"
        }
      ],
      "num_steps": 6
    },
    "SteamInMicrowave": {
      "category": "Steaming Food",
      "description": "Pick the vegetable from the sink and place it in the bowl. Then pick the bowl and place it in the microwave. Then close the microwave door and press the start button.",
      "atomic_sequence": [
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick vegetable from sink, place on counter temporarily"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place vegetable in bowl on counter"
        },
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open microwave door"
        },
        {
          "task": "PnPCounterToMicrowave",
          "description": "Pick an object from the counter and place it inside the microwave. The microwave door is already open.",
          "specific_action": "Pick bowl (with vegetable) from counter, place in microwave"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close microwave door"
        },
        {
          "task": "TurnOnMicrowave",
          "description": "Turn on the microwave by pressing the start button.",
          "specific_action": "Press start button"
        }
      ],
      "num_steps": 7
    },
    "MultistepSteaming": {
      "category": "Steaming Food",
      "description": "Turn on the sink faucet. Then move the vegetable from the counter to the sink. Turn of the sink. Move the vegetable from the sink to the pot next to the stove. Finally, move the pot to the appropriate burner.",
      "atomic_sequence": [
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on sink faucet"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Move vegetable from counter to sink"
        },
        {
          "task": "TurnOffSinkFaucet",
          "description": "Turn off the sink faucet to stop the flow of water.",
          "specific_action": "Turn off sink"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick vegetable from sink, place on counter temporarily"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick vegetable from counter, place in pot next to stove"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Move pot to appropriate burner"
        }
      ],
      "num_steps": 6,
      "notes": "Last step assumes pot is treated as movable object to burner."
    },
    "SteamVegetables": {
      "category": "Steaming Food",
      "description": "Place vegetables into the pot based on the amount of time it would take to steam each, e.g. potatoes and carrots would take the longest. Then turn off the burner beneath the pot.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick first vegetable (longest cooking time) from counter, place in pot"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick second vegetable from counter, place in pot"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Pick third vegetable (shortest cooking time) from counter, place in pot"
        },
        {
          "task": "TurnOffStove",
          "description": "Turn off a specified stove burner by twisting the respective stove knob.",
          "specific_action": "Turn off burner beneath pot"
        }
      ],
      "num_steps": 4,
      "notes": "Assuming 3 vegetables; actual count and order may vary."
    },
    "OrganizeCleaningSupplies": {
      "category": "Tidying Cabinets and Drawers",
      "description": "Open the cabinet. Pick the cleaner and place it next to the sink. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "OpenSingleDoor",
          "description": "Open a microwave door or a cabinet with a single door.",
          "specific_action": "Open the cabinet"
        },
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick cleaner from cabinet, place next to sink (on counter)"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 3
    },
    "DrawerUtensilSort": {
      "category": "Tidying Cabinets and Drawers",
      "description": "Open the left drawer and push the utensils inside it.",
      "atomic_sequence": [
        {
          "task": "OpenDrawer",
          "description": "Open a drawer.",
          "specific_action": "Open the left drawer"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first utensil from counter, place in drawer (using sink as proxy)"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second utensil from counter, place in drawer"
        }
      ],
      "num_steps": 3,
      "notes": "Using sink action as proxy for placing items in drawer since there's no PickPlaceCounterToDrawer atomic task."
    },
    "PantryMishap": {
      "category": "Tidying Cabinets and Drawers",
      "description": "Place the vegetable on the counter and the canned food in the drawer. Close the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick vegetable from current location"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place vegetable on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick canned food, place in drawer (using sink as proxy)"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 4
    },
    "ShakerShuffle": {
      "category": "Tidying Cabinets and Drawers",
      "description": "Pick and place the shaker into the drawer. Then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick shaker from counter, place in drawer (using sink as proxy)"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 2
    },
    "SnackSorting": {
      "category": "Tidying Cabinets and Drawers",
      "description": "Place the bar in the bowl and close the drawer.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bar from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place bar in bowl"
        },
        {
          "task": "CloseDrawer",
          "description": "Close a drawer.",
          "specific_action": "Close the drawer"
        }
      ],
      "num_steps": 3
    },
    "StackBowlsInSink": {
      "category": "Washing Dishes",
      "description": "Stack the bowls in the sink.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first bowl from counter, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second bowl from counter, stack in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick third bowl from counter, stack in sink"
        }
      ],
      "num_steps": 3,
      "notes": "Assuming 3 bowls; actual count may vary."
    },
    "PreSoakPan": {
      "category": "Washing Dishes",
      "description": "Pick the pan and sponge and place them into the sink. Then turn on the water.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick pan from counter, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick sponge from counter, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on water"
        }
      ],
      "num_steps": 3
    },
    "SortingCleanup": {
      "category": "Washing Dishes",
      "description": "Pick the mug and place it in the sink. Pick the bowl and place it in the cabinet and then close the cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick mug from counter, place in sink"
        },
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick bowl from counter, place in cabinet"
        },
        {
          "task": "CloseSingleDoor",
          "description": "Close a microwave door or a cabinet with a single door.",
          "specific_action": "Close the cabinet"
        }
      ],
      "num_steps": 3
    },
    "DryDrinkware": {
      "category": "Washing Dishes",
      "description": "A wet mug is on the counter and needs to be dried. Pick it up and place it upside down in the open cabinet.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToCab",
          "description": "Pick an object from the counter and place it inside the cabinet. The cabinet is already open.",
          "specific_action": "Pick wet mug from counter, place upside down in cabinet"
        }
      ],
      "num_steps": 1
    },
    "DryDishes": {
      "category": "Washing Dishes",
      "description": "Pick the cup and bowl from the sink and place them on the counter for drying.",
      "atomic_sequence": [
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick cup from sink, place on counter for drying"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick bowl from sink, place on counter for drying"
        }
      ],
      "num_steps": 2
    },
    "PrewashFoodAssembly": {
      "category": "Washing Fruits and Vegetables",
      "description": "Pick the fruit/vegetable from the cabinet and place it in the bowl. Then pick the bowl and place it in the sink. Then turn on the sink facuet.",
      "atomic_sequence": [
        {
          "task": "PnPCabToCounter",
          "description": "Pick an object from the cabinet and place it on the counter. The cabinet is already open.",
          "specific_action": "Pick fruit/vegetable from cabinet, place on counter temporarily"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick fruit/vegetable from counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Place fruit/vegetable in bowl on counter"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick bowl (with fruit/vegetable), place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on sink faucet"
        }
      ],
      "num_steps": 5
    },
    "ClearClutter": {
      "category": "Washing Fruits and Vegetables",
      "description": "Pick up the fruits and vegetables and place them in the sink. Turn on the sink faucet to wash them. Then turn the sink off and put them in the tray.",
      "atomic_sequence": [
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick first fruit/vegetable from counter, place in sink"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Pick second fruit/vegetable from counter, place in sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on sink to wash"
        },
        {
          "task": "TurnOffSinkFaucet",
          "description": "Turn off the sink faucet to stop the flow of water.",
          "specific_action": "Turn sink off"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick first item from sink, place in tray on counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick second item from sink, place in tray on counter"
        }
      ],
      "num_steps": 6
    },
    "DrainVeggies": {
      "category": "Washing Fruits and Vegetables",
      "description": "Dump the vegetable from the pot into the sink. Then turn on the water and wash the vegetable. Then turn off the water and put the vegetable back in the pot.",
      "atomic_sequence": [
        {
          "task": "PnPStoveToCounter",
          "description": "Pick an object from the stove (via a pot or pan) and place it on (the plate on) the counter.",
          "specific_action": "Pick pot from stove, place on counter temporarily"
        },
        {
          "task": "PnPCounterToSink",
          "description": "Pick an object from the counter and place it in the sink.",
          "specific_action": "Dump vegetable from pot into sink"
        },
        {
          "task": "TurnOnSinkFaucet",
          "description": "Turn on the sink faucet to begin the flow of water.",
          "specific_action": "Turn on water to wash vegetable"
        },
        {
          "task": "TurnOffSinkFaucet",
          "description": "Turn off the sink faucet to stop the flow of water.",
          "specific_action": "Turn off water"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick vegetable from sink"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Put vegetable back in pot"
        },
        {
          "task": "PnPCounterToStove",
          "description": "Pick an object from the counter and place it in a pan or pot on the stove.",
          "specific_action": "Return pot to stove"
        }
      ],
      "num_steps": 7
    },
    "AfterwashSorting": {
      "category": "Washing Fruits and Vegetables",
      "description": "Pick the foods of the same kind from the sink and place them in one bowl. Place the other food in the other bowl. Then turn off the sink faucet.",
      "atomic_sequence": [
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick first food item (type 1) from sink, place in first bowl on counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick second food item (type 1) from sink, place in first bowl"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick first food item (type 2) from sink, place in second bowl on counter"
        },
        {
          "task": "PnPSinkToCounter",
          "description": "Pick an object from the sink and place it on the counter area next to the sink.",
          "specific_action": "Pick second food item (type 2) from sink, place in second bowl"
        },
        {
          "task": "TurnOffSinkFaucet",
          "description": "Turn off the sink faucet to stop the flow of water.",
          "specific_action": "Turn off sink faucet"
        }
      ],
      "num_steps": 5,
      "notes": "Assuming 2 items of each type; actual count may vary."
    }
  }
}