sample/meta/subtasks.jsonl

{"task_index": 0, "task": "Pick up and lift the Paper togo box containing the Donut pointed at by the person."}
{"task_index": 1, "task": "Place the picked Paper togo box onto the Handle tray extended by the person."}
{"task_index": 2, "task": "Place the Glasses case inside the Package Box."}
{"task_index": 3, "task": "Put the Glasses case from the right side of the table into the Package Box."}
{"task_index": 4, "task": "Position the Package Box on the left side of the table."}
{"task_index": 5, "task": "Pick up the can waste from the table and place it in the right Fabric basket."}
{"task_index": 6, "task": "Pick up two Reusable plastic cups , one in each hand."}
{"task_index": 7, "task": "Place the stack of Reusable plastic cups into the Pantry Basket."}
{"task_index": 8, "task": "Pick up the Duster when the human hands it over."}
{"task_index": 9, "task": "Clean a randomly selected level of the Shelf with the Duster."}
{"task_index": 10, "task": "Clean another randomly selected level of the Shelf with the Duster."}
{"task_index": 11, "task": "Place the Duster on the table."}
{"task_index": 12, "task": "Place the Power Cable into the Organizing box."}
{"task_index": 13, "task": "Place the USB Extension Cable into the Organizing box."}
{"task_index": 14, "task": "Pick up the Duster handed by the human."}
{"task_index": 15, "task": "Clean the specific section of the Shelf indicated by the human with the Duster."}
{"task_index": 16, "task": "Hand the Duster back to the human."}
{"task_index": 17, "task": "Pick up the Organizing box on the left side of the table and lift it."}
{"task_index": 18, "task": "Offer the picked Organizing box to the human."}
{"task_index": 19, "task": "Release the Organizing box you were holding."}
{"task_index": 20, "task": "Pick up the Organizing box on the right side of the table and lift it."}
{"task_index": 21, "task": "Pick up the Digital clock and place it inside the Organizing basket."}
{"task_index": 22, "task": "Pick up the Stapler and place it inside the Organizing basket."}
{"task_index": 23, "task": "Pick up the Reusable plastic cup and place it inside the Organizing basket."}
{"task_index": 24, "task": "Pick up the Pencil pouch that the person points to."}
{"task_index": 25, "task": "Move the picked Pencil pouch towards the Organizing basket indicated by the person."}
{"task_index": 26, "task": "Stop as directed by the person."}
{"task_index": 27, "task": "Place the picked Pencil pouch into the Organizing basket as instructed by the person."}
{"task_index": 28, "task": "Pick up the Stapler that the person points to."}
{"task_index": 29, "task": "Place the picked Stapler into the Organizing basket as instructed by the person."}
{"task_index": 30, "task": "Pick up the 600 ml Paper Cup and place it in the middle top area of the table."}
{"task_index": 31, "task": "When a person places the Paper Cup Lid on the 600 ml Paper Cup , lift the 600 ml Paper Cup."}
{"task_index": 32, "task": "Position the Cup Carrier in the center of the table."}
{"task_index": 33, "task": "Insert the held 600 ml Paper Cup into the Cup Carrier."}
{"task_index": 34, "task": "Pick up the waste item pointed out by the person."}
{"task_index": 35, "task": "Place the picked waste into the Fabric basket indicated by the person."}
{"task_index": 36, "task": "Pick up one pair of Shoes and place it on the Shoes Stand indicated by the person."}
{"task_index": 37, "task": "Pick up another pair of Shoes and place it on the Shoes Stand indicated by the person."}
{"task_index": 38, "task": "Open the side flaps of the Package Box."}
{"task_index": 39, "task": "Once the human has placed the objects inside and stepped back, release both hands from the side flaps of the Package Box."}
{"task_index": 40, "task": "Push the right (or left) flap of the Package Box to close it."}
{"task_index": 41, "task": "Push the left (or right) flap of the Package Box to close it."}
{"task_index": 42, "task": "After the human seals the box with tape, release both hands from the side flaps of the Package Box."}
{"task_index": 43, "task": "Pick up the Blank PCB and present it to the human."}
{"task_index": 44, "task": "Release the Blank PCB you were holding."}
{"task_index": 45, "task": "Pick up the Blank PCB that the human is holding."}
{"task_index": 46, "task": "Place the Blank PCB in the ESD tray."}
{"task_index": 47, "task": "Lift both Airtight Container."}
{"task_index": 48, "task": "Once an object is inside an Airtight Container , place the container in the center of the table."}
{"task_index": 49, "task": "Pick up one Airtight Container lid and hand it to the human."}
{"task_index": 50, "task": "Release when the human grabs the Airtight Container lid."}
{"task_index": 51, "task": "Pick up a Picnic Bowl from the table and place it on a Handle tray."}
{"task_index": 52, "task": "Pick up a Pencil pouch or Stapler and place it inside the Mailer Box closest to the robot."}
{"task_index": 53, "task": "Close the lid of the Mailer Box closest to the robot."}
{"task_index": 54, "task": "Pick up one Reusable plastic cup and place it on a coaster set by the human."}
{"task_index": 55, "task": "Take one Reusable plastic cup from the Flat Tray and place it on a coaster set by the human."}
{"task_index": 56, "task": "When the left (or right) Handle tray is removed, use the left hand (or right hand) to clean the left (or right) side of the table with the Lint Roller."}
{"task_index": 57, "task": "Place the Lint Roller back on top of the Airtight Container."}
{"task_index": 58, "task": "When the right (or left) Handle tray is removed, use the right hand (or left hand) to clean the right (or left) side of the table with the Lint Roller."}
{"task_index": 59, "task": "Pick up the Reusable plastic cup."}
{"task_index": 60, "task": "Place the picked Reusable plastic cup into the Flat Tray indicated by the person."}
{"task_index": 61, "task": "Pick up the Handle plastic cup and place it into the empty Flat Tray."}
{"task_index": 62, "task": "Pick up one drink and place it into the Shopping basket."}
{"task_index": 63, "task": "Place the Butter Roll into the Airtight Container indicated by the human."}
{"task_index": 64, "task": "Grab the Lint Roller with your left hand and the towel with your right hand."}
{"task_index": 65, "task": "If a person points to the right, clean the right side of the table with your right hand; if they point to the left, clean the left side with your left hand."}
{"task_index": 66, "task": "Clean the area not pointed to by the person."}
{"task_index": 67, "task": "Return the Lint Roller and towel to their original positions."}
{"task_index": 68, "task": "Pick up one hotel-folded towel and place it in the Fabric basket indicated by the person."}
{"task_index": 69, "task": "Pick up one hotel-folded towel from the bottom of the table and place it in the Fabric basket indicated by the person."}
{"task_index": 70, "task": "Pick up the item the person points to and place it in the Market Basket."}
{"task_index": 71, "task": "Grab the top end of the 100 cm Hotel Towel extended by the human."}
{"task_index": 72, "task": "Release the end of the 100 cm Hotel Towel you were holding and grab the top end of the folded side."}
{"task_index": 73, "task": "Release the end of the 100 cm Hotel Towel you were holding."}
{"task_index": 74, "task": "Pick up the 100 cm Hotel Towel and place it on the left side of the table."}
{"task_index": 75, "task": "Place both hands on the side flaps of the Package Box and spread them outward."}
{"task_index": 76, "task": "Lift both hands away from the flaps of the Package Box."}
{"task_index": 77, "task": "Press down on the top of the closed Package Box to secure it."}
{"task_index": 78, "task": "Pick up the Digital clock indicated by the person."}
{"task_index": 79, "task": "If the picked Digital clock is wrapped, place it in the Package Box ; if not, place it in the Organizing box."}
{"task_index": 80, "task": "Pick up the item indicated by the person and place it inside the Mailer Box."}
{"task_index": 81, "task": "Close the Mailer Box."}
{"task_index": 82, "task": "Pick up the Picnic Bowl and Reusable plastic cup from the Handle tray in front of the human's position and hold them in the air."}
{"task_index": 83, "task": "Place the Picnic Bowl and Reusable plastic cup back onto the Handle tray in front of the human's position."}
{"task_index": 84, "task": "When the cord part of the Power Cable appears at the lower middle area of the table and stops, grasp the cord part of the Power Cable."}
{"task_index": 85, "task": "Pull the grasped Power Cable to the location of the Power Strip."}
{"task_index": 86, "task": "Release the Power Cable when the human grasps it."}
{"task_index": 87, "task": "Pick up one Pepsi coke and place it on the Flat Tray."}
{"task_index": 88, "task": "Pick up one Pepsi coke from the Handle tray and place it on the Flat Tray without a Pepsi coke."}
{"task_index": 89, "task": "Pick up the Duster from the human."}
{"task_index": 90, "task": "Clean the specific tier of the Shelf with the Duster once objects are removed."}
{"task_index": 91, "task": "Clean the remaining tier of the Shelf with the Duster once objects are removed."}
{"task_index": 92, "task": "Pick up the Digital clock from the table and place it into the empty Plastic storage basket."}
{"task_index": 93, "task": "Pick up a Butter Roll and place it into an empty Airtight Container."}
{"task_index": 94, "task": "Pick up the Lint Roller when the human hands it over."}
{"task_index": 95, "task": "Clean the table with the Lint Roller when the human lifts the Dish drying rack."}
{"task_index": 96, "task": "Place the Lint Roller down when the Dish drying rack is positioned in the middle of the table."}
{"task_index": 97, "task": "Pick up the Plastic Funnel and insert it into the Big flask."}
{"task_index": 98, "task": "Once the solution is in the Big flask , pick up the Plastic Funnel and place it back into the right Organizing basket."}
{"task_index": 99, "task": "When the human places the Big flask in the center of the table, pick up the Big flask and place it in the left Organizing basket."}
{"task_index": 100, "task": "Pick up the Paper togo box containing the Donut indicated by the person and place it on the Handle tray."}
{"task_index": 101, "task": "Pick up one Paper togo box."}
{"task_index": 102, "task": "Place the picked Paper togo box on the Handle tray while simultaneously picking up another Paper togo box from the table with the other hand."}
{"task_index": 103, "task": "Place the picked Paper togo box on the Handle tray."}
{"task_index": 104, "task": "Pick up the Pepsi coke handed by the human."}
{"task_index": 105, "task": "Place the picked Pepsi coke in the line of the Automatic Can Dispenser with the same cans."}
{"task_index": 106, "task": "Pick up the Ionic drink handed by the human."}
{"task_index": 107, "task": "Place the picked Ionic drink in the line of the Automatic Can Dispenser with the same cans."}
{"task_index": 108, "task": "Pick up the Sprite handed by the human."}
{"task_index": 109, "task": "Place the picked Sprite in the line of the Automatic Can Dispenser with the same cans."}
{"task_index": 110, "task": "Pick up the Blank PCB from the PCB Rack and place it in the left ESD tray."}
{"task_index": 111, "task": "Pick up the ESD tray and place it on the left side of the table."}
{"task_index": 112, "task": "Pick up the Blank PCB from the PCB Rack and place it in the right ESD tray."}
{"task_index": 113, "task": "Pick up the Organizing basket and move it to the center of the table, then pick up the Reusable plastic cup from the right side of the table and place it inside the Organizing basket."}
{"task_index": 114, "task": "Pick up the Reusable plastic cup from the right side of the table and stack it inside the Organizing basket in the center of the table."}
{"task_index": 115, "task": "Move the Organizing basket back to the left side of the table."}
{"task_index": 116, "task": "Pick up one triangle-folded towel and place it in the left Fabric basket."}
{"task_index": 117, "task": "Pick up another triangle-folded towel from the table and place it in the left Fabric basket."}
{"task_index": 118, "task": "Receive the A4 Paper."}
{"task_index": 119, "task": "Place the A4 Paper in the designated Handle tray."}
{"task_index": 120, "task": "Pick up the PCB Rack handed by the human."}
{"task_index": 121, "task": "Store the Blank PCB in the appropriate container."}
{"task_index": 122, "task": "Pick up a can of the same type that the person held from the Automatic Can Dispenser."}
{"task_index": 123, "task": "Place the picked can on the Handle tray extended by the person."}
{"task_index": 124, "task": "Pick up another can of the same type that the person held from the Automatic Can Dispenser."}
{"task_index": 125, "task": "When a person lays out a Towel with hook on the table, fold it in half twice."}
{"task_index": 126, "task": "Place the folded Towel with hook on the right side of the table."}
{"task_index": 127, "task": "Stack the folded Towel with hook on the right side of the table."}