{
  "scenarios": [
    "Cleaning",
    "Cooking",
    "Object Manipulation"
  ],
  "activities": [
    "bimanual pick and place",
    "organizing bathroom items",
    "pick and place objects",
    "reorient and place objects",
    "tidying the bedroom",
    "washing dishes at the sink"
  ],
  "verbs": [
    "flip",
    "fold",
    "grasp",
    "lift",
    "move",
    "pick up",
    "place",
    "rinse",
    "rotate",
    "scrub",
    "turn off",
    "turn on",
    "wipe"
  ],
  "nouns": [
    "blanket",
    "book",
    "bottle",
    "clothes",
    "counter",
    "dish",
    "fork",
    "item",
    "knife",
    "object",
    "pillow",
    "pot",
    "sponge"
  ]
}