{
  "tasks": [
    {
      "task_index": 0,
      "instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
      "subtasks": [
        {
          "id": "001",
          "description": "Hold the empty pen holder."
        },
        {
          "id": "002",
          "description": "Insert the first selected pen into the pen holder."
        },
        {
          "id": "003",
          "description": "Insert the second selected pen into the pen holder."
        },
        {
          "id": "004",
          "description": "Insert the third selected pen into the pen holder."
        },
        {
          "id": "005",
          "description": "Insert the remaining pen into the pen holder."
        },
        {
          "id": "006",
          "description": "Place the filled pen holder upright on the table."
        }
      ],
      "counterfactual_instructions": [
        {
          "id": "counterfactual_1",
          "description": "Pick up the pen holder, place all the spoons into it one by one, then put the filled holder back on the table."
        },
        {
          "id": "counterfactual_2",
          "description": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table upside down."
        },
        {
          "id": "counterfactual_3",
          "description": "Pick up the pen holder, place all the pens beside it one by one, then put the holder back on the table."
        },
        {
          "id": "counterfactual_4",
          "description": "Pick up the pen holder, place exactly three pens into it one by one, then put the filled holder back on the table."
        }
      ]
    },
    {
      "task_index": 1,
      "instruction": "Hang all three mugs on the mug rack.",
      "subtasks": [
        {
          "id": "001",
          "description": "Hang the first cup on an empty hook."
        },
        {
          "id": "002",
          "description": "Hang the second cup on another empty hook."
        },
        {
          "id": "003",
          "description": "Hang the third cup on the remaining empty hook."
        }
      ],
      "counterfactual_instructions": [
        {
          "id": "counterfactual_1",
          "description": "Hang all three plates on the mug rack."
        },
        {
          "id": "counterfactual_2",
          "description": "Stand all three mugs upright on the table."
        },
        {
          "id": "counterfactual_3",
          "description": "Place all three mugs beside the mug rack."
        },
        {
          "id": "counterfactual_4",
          "description": "Hang exactly two mugs on the mug rack and leave the remaining mug on the table."
        }
      ]
    },
    {
      "task_index": 2,
      "instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
      "subtasks": [],
      "counterfactual_instructions": []
    },
    {
      "task_index": 3,
      "instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
      "subtasks": [],
      "counterfactual_instructions": []
    }
  ]
}