Add files using upload-large-folder tool

place_bread_basket/franka_randomized_500/instructions/episode108.json

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+{
+  "seen": [
+    "Use the dual arm to place the medium-sized bread piece and the soft golden baked bread into the breadbasket with spiral lines.",
+    "Grab both the golden brown bread and the golden crusted bread slice, drop into the breadbasket made of woven wood.",
+    "Grab both the golden brown bread and the bread with rounded corners with the dual arm and place in the spiral ridged breadbasket.",
+    "Put the fluffy baked bread and the bread with golden surface color into the medium breadbasket using two arms.",
+    "Pick up both the medium-sized bread piece and the bread with rounded corners, then place them in the breadbasket shaped like a bowl.",
+    "Lift the sponge-textured golden bread and the golden crusted bread slice at once with the dual arm, then set them in the round breadbasket.",
+    "Use two arms and set the sponge-textured golden bread, the bread with rounded corners in the palm-sized breadbasket.",
+    "Lift the light brown porous bread and the bread with golden surface color with two arms, put in the round breadbasket.",
+    "Place the golden baked bread and the golden brown loaf-shaped bread in the palm-sized breadbasket using the dual arm",
+    "Shift the golden baked bread and the slice-shaped bread into the breadbasket made of woven wood",
+    "Simultaneously use the dual arm to drop the rounded square loaf and the bread with rounded corners in the smooth beige breadbasket.",
+    "Shift the medium bread with rounded sides and the brown bread loaf together to the spiral ridged breadbasket.",
+    "Take the medium bread with rounded sides and the rectangular bread soft inside then place in the palm-sized breadbasket.",
+    "Take the medium bread with rounded sides and the golden bread, place them inside the breadbasket for baking.",
+    "Simultaneously grab the golden brown bread and the brown bread loaf using the dual arm, then drop them in the breadbasket shaped like a bowl.",
+    "Grab the fluffy baked bread and the bread with firm crust edges quickly and drop them into the breadbasket with spiral lines.",
+    "Take the square-shaped bread piece and the brown bread loaf to the medium breadbasket",
+    "Simultaneously grab the rounded square loaf and the brown bread loaf, drop in the breadbasket for baking.",
+    "Move the rounded square loaf and the soft golden baked bread to the breadbasket for dough",
+    "Pick the fluffy baked bread and the slice-shaped bread, place them in the spiral ridged breadbasket.",
+    "Move the bread with rounded edges and the bread loaf with square shape at once into the palm-sized breadbasket.",
+    "Pick the medium-sized bread piece and the bread with golden surface color and set them in the round breadbasket.",
+    "Use both arms to move the bread with rounded edges, the bread with firm crust edges to the palm-sized breadbasket.",
+    "Grab two breads the fluffy baked bread and the golden brown loaf-shaped bread and place in the breadbasket for dough.",
+    "Pick the golden brown bread and the golden bread for the the palm-sized breadbasket",
+    "Take the golden brown bread and the bread with golden surface color together and place them into the smooth beige breadbasket.",
+    "Use the dual arm to place the golden baked bread and the bread loaf with square shape into the breadbasket for baking.",
+    "Grab both the golden brown bread and the slice-shaped bread, drop into the breadbasket for dough.",
+    "Grab both the light brown porous bread and the slice-shaped bread with the dual arm and place in the breadbasket with flat base.",
+    "Put the fluffy baked bread and the golden bread into the spiral ridged breadbasket using two arms.",
+    "Pick up both the sponge-textured golden bread and the golden bread, then place them in the medium breadbasket.",
+    "Lift the square-shaped bread piece and the golden crusted bread slice at once with the dual arm, then set them in the palm-sized breadbasket.",
+    "Use two arms and set the medium bread with rounded sides, the soft golden baked bread in the palm-sized breadbasket.",
+    "Lift the bread with soft texture and the golden brown loaf-shaped bread with two arms, put in the round breadbasket.",
+    "Place the rounded square loaf and the rectangular bread soft inside in the palm-sized breadbasket using the dual arm",
+    "Shift the medium bread with rounded sides and the brown bread loaf into the breadbasket for baking",
+    "Simultaneously use the dual arm to drop the bread with soft texture and the golden brown loaf-shaped bread in the breadbasket shaped like a bowl.",
+    "Shift the bread with soft texture and the golden bread together to the spiral ridged breadbasket.",
+    "Take the fluffy baked bread and the golden crusted bread slice then place in the breadbasket made of woven wood.",
+    "Take the medium bread with rounded sides and the bread loaf with square shape, place them inside the breadbasket shaped like a bowl.",
+    "Simultaneously grab the bread with soft texture and the bread loaf with square shape using the dual arm, then drop them in the breadbasket with flat base.",
+    "Grab the bread with rounded edges and the soft golden baked bread quickly and drop them into the breadbasket with spiral lines.",
+    "Take the medium-sized bread piece and the rectangular bread soft inside to the breadbasket for baking",
+    "Simultaneously grab the square-shaped bread piece and the rectangular bread soft inside, drop in the spiral ridged breadbasket.",
+    "Move the medium-sized bread piece and the brown bread loaf to the smooth beige breadbasket",
+    "Pick the medium-sized bread piece and the golden crusted bread slice, place them in the breadbasket with spiral lines.",
+    "Move the fluffy baked bread and the square loaf of bread at once into the breadbasket for baking.",
+    "Pick the square-shaped bread piece and the slice-shaped bread and set them in the medium breadbasket.",
+    "Use both arms to move the medium-sized bread piece, the bread with golden surface color to the breadbasket for dough.",
+    "Grab two breads the sponge-textured golden bread and the golden crusted bread slice and place in the breadbasket for baking.",
+    "Pick the sponge-textured golden bread and the brown bread loaf for the the wooden breadbasket",
+    "Take the bread with rounded edges and the golden brown loaf-shaped bread together and place them into the breadbasket for baking.",
+    "Use the dual arm to place the square-shaped bread piece and the rectangular bread soft inside into the medium breadbasket.",
+    "Grab both the medium bread with rounded sides and the slice-shaped bread, drop into the breadbasket for dough.",
+    "Grab both the golden brown bread and the bread with firm crust edges with the dual arm and place in the round breadbasket.",
+    "Put the light brown porous bread and the golden bread into the breadbasket with spiral lines using two arms.",
+    "Pick up both the bread with rounded edges and the rectangular bread soft inside, then place them in the breadbasket with spiral lines.",
+    "Lift the golden baked bread and the golden brown loaf-shaped bread at once with the dual arm, then set them in the palm-sized breadbasket.",
+    "Use two arms and set the medium-sized bread piece, the soft golden baked bread in the breadbasket for baking.",
+    "Lift the square-shaped bread piece and the bread with rounded corners with two arms, put in the medium breadbasket.",
+    "Place the bread with rounded edges and the bread loaf with square shape in the breadbasket made of woven wood using the dual arm",
+    "Shift the medium bread with rounded sides and the square loaf of bread into the medium breadbasket",
+    "Simultaneously use the dual arm to drop the fluffy baked bread and the slice-shaped bread in the breadbasket for baking.",
+    "Shift the square-shaped bread piece and the bread with golden surface color together to the palm-sized breadbasket.",
+    "Take the medium bread with rounded sides and the slice-shaped bread then place in the breadbasket with spiral lines.",
+    "Take the golden baked bread and the golden crusted bread slice, place them inside the breadbasket with spiral lines.",
+    "Simultaneously grab the golden brown bread and the slice-shaped bread using the dual arm, then drop them in the breadbasket for dough.",
+    "Grab the bread with rounded edges and the bread with firm crust edges quickly and drop them into the breadbasket for dough.",
+    "Take the sponge-textured golden bread and the bread loaf with square shape to the smooth beige breadbasket",
+    "Simultaneously grab the rounded square loaf and the soft golden baked bread, drop in the breadbasket for dough.",
+    "Move the fluffy baked bread and the rectangular bread soft inside to the medium breadbasket",
+    "Pick the sponge-textured golden bread and the bread with golden surface color, place them in the medium breadbasket.",
+    "Move the bread with soft texture and the golden brown loaf-shaped bread at once into the wooden breadbasket.",
+    "Pick the fluffy baked bread and the slice-shaped bread and set them in the breadbasket shaped like a bowl.",
+    "Use both arms to move the golden brown bread, the golden bread to the breadbasket made of woven wood.",
+    "Grab two breads the medium bread with rounded sides and the soft golden baked bread and place in the breadbasket shaped like a bowl.",
+    "Pick the bread with soft texture and the rectangular bread soft inside for the the round breadbasket",
+    "Take the sponge-textured golden bread and the bread with firm crust edges together and place them into the smooth beige breadbasket.",
+    "Use the dual arm to place the medium-sized bread piece and the rectangular bread soft inside into the breadbasket with flat base.",
+    "Grab both the medium-sized bread piece and the rectangular bread soft inside, drop into the palm-sized breadbasket.",
+    "Grab both the golden baked bread and the bread loaf with square shape with the dual arm and place in the breadbasket for baking.",
+    "Put the bread with rounded edges and the golden crusted bread slice into the spiral ridged breadbasket using two arms.",
+    "Pick up both the rounded square loaf and the square loaf of bread, then place them in the smooth beige breadbasket.",
+    "Lift the soft square bread and the bread with golden surface color at once with the dual arm, then set them in the breadbasket made of woven wood.",
+    "Use two arms and set the rounded square loaf, the golden crusted bread slice in the wooden breadbasket.",
+    "Lift the golden baked bread and the bread with golden surface color with two arms, put in the breadbasket with spiral lines.",
+    "Place the rounded square loaf and the brown bread loaf in the spiral ridged breadbasket using the dual arm",
+    "Shift the golden baked bread and the bread with rounded corners into the round breadbasket",
+    "Simultaneously use the dual arm to drop the bread with rounded edges and the soft golden baked bread in the medium breadbasket.",
+    "Shift the bread with soft texture and the golden crusted bread slice together to the wooden breadbasket.",
+    "Take the golden baked bread and the slice-shaped bread then place in the spiral ridged breadbasket.",
+    "Take the sponge-textured golden bread and the bread with firm crust edges, place them inside the medium breadbasket.",
+    "Simultaneously grab the bread with rounded edges and the brown bread loaf using the dual arm, then drop them in the medium breadbasket.",
+    "Grab the soft square bread and the golden bread quickly and drop them into the breadbasket shaped like a bowl.",
+    "Take the medium-sized bread piece and the slice-shaped bread to the breadbasket with spiral lines",
+    "Simultaneously grab the bread with soft texture and the soft golden baked bread, drop in the round breadbasket.",
+    "Move the fluffy baked bread and the soft golden baked bread to the palm-sized breadbasket",
+    "Pick the bread with soft texture and the bread with firm crust edges, place them in the breadbasket made of woven wood.",
+    "Move the medium-sized bread piece and the rectangular bread soft inside at once into the wooden breadbasket.",
+    "Pick the sponge-textured golden bread and the golden bread and set them in the breadbasket for baking."
+  ],
+  "unseen": [
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the light wooden breadbasket.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the round beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the round beige breadbasket.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the round beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the light wooden breadbasket.",
+    "Place the soft bread with golden edges and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the soft bread with golden edges and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop it into the round beige breadbasket.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop them into the round beige breadbasket.",
+    "Place the spongy golden brown bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and put them in the round beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the round beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Pick the soft bread with golden edges and the small loaf-shaped bread and place them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized with two arms, place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the round beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the round beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the light wooden breadbasket.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized with two arms, place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the light wooden breadbasket.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the bread loaf medium-sized and place in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the soft rectangular bread loaf, drop in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the round beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the light wooden breadbasket.",
+    "Place the soft bread with golden edges and the soft rectangular bread loaf into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick the square bread with light spots and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the round beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the soft rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the light wooden breadbasket.",
+    "Place the soft bread with golden edges and the soft rectangular bread loaf into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop it into the round beige breadbasket.",
+    "Pick the spongy golden brown bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft rectangular bread loaf, then place them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the round beige breadbasket using the dual arm",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the small loaf-shaped bread and place them in the beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the small loaf-shaped bread, then place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the light wooden breadbasket using the dual arm",
+    "Use the dual arm to pick the soft bread with golden edges and the bread loaf medium-sized and place in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and put them in the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the light wooden breadbasket.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the soft rectangular bread loaf and drop them into the beige breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode137.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the soft square bread and put it in the plastic mesh breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the light beige rectangular breadbasket.",
+    "Use the left arm to grab the medium bread with rounded sides for the rectangular breadbasket",
+    "Pick up the fluffy baked bread and drop it in the breadbasket with textured sides.",
+    "Use the left arm to grab the fluffy baked bread and drop it inside the textured beige breadbasket.",
+    "Grab the medium-sized bread piece with the left arm and drop it in the beige breadbasket.",
+    "Lift the bread with soft texture and set it in the light and textured breadbasket.",
+    "Grab the square-shaped bread piece for the beige breadbasket with the left arm",
+    "Lift the light brown porous bread and transfer to the rectangular breadbasket.",
+    "Move the medium-sized bread piece to the breadbasket with textured sides using one arm.",
+    "Grab the fluffy baked bread, drop it into the plastic mesh breadbasket.",
+    "Drop the medium bread with rounded sides into the plastic mesh breadbasket",
+    "Pick the medium-sized bread piece and move it to the beige breadbasket for holding bread.",
+    "Put the bread with rounded edges into the breadbasket for bread storage using an arm.",
+    "Put the fluffy baked bread into the beige breadbasket for holding bread after grabbing it.",
+    "Grab the rounded square loaf with an arm and set in the plastic mesh breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the rectangular breadbasket.",
+    "Pick up the fluffy baked bread and put it in the rectangular breadbasket.",
+    "Pick the bread with soft texture and put it into the medium rectangular breadbasket.",
+    "Use the left arm to grab the medium-sized bread piece for the breadbasket for bread storage",
+    "Pick up the golden baked bread and drop it in the plastic breadbasket with mesh sides.",
+    "Use the left arm to grab the sponge-textured golden bread and drop it inside the plastic mesh breadbasket.",
+    "Grab the sponge-textured golden bread with the left arm and drop it in the breadbasket for bread storage.",
+    "Lift the bread with soft texture and set it in the plastic mesh breadbasket.",
+    "Grab the fluffy baked bread for the breadbasket with textured sides with the left arm",
+    "Lift the square-shaped bread piece and transfer to the beige breadbasket for holding bread.",
+    "Move the light brown porous bread to the light and textured breadbasket using one arm.",
+    "Grab the bread with soft texture, drop it into the breadbasket for bread storage.",
+    "Drop the square-shaped bread piece into the medium rectangular breadbasket",
+    "Pick the golden brown bread and move it to the plastic breadbasket with mesh sides.",
+    "Put the square-shaped bread piece into the light beige rectangular breadbasket using an arm.",
+    "Put the rounded square loaf into the light and textured breadbasket after grabbing it.",
+    "Grab the soft square bread with an arm and set in the rectangular breadbasket.",
+    "Grab the medium-sized bread piece with one hand and set it in the beige breadbasket for holding bread.",
+    "Pick up the square-shaped bread piece and put it in the beige breadbasket for holding bread.",
+    "Pick the light brown porous bread and put it into the beige breadbasket for holding bread.",
+    "Use the left arm to grab the medium-sized bread piece for the breadbasket for bread storage",
+    "Pick up the golden baked bread and drop it in the medium rectangular breadbasket.",
+    "Use the left arm to grab the light brown porous bread and drop it inside the light beige rectangular breadbasket.",
+    "Grab the soft square bread with the left arm and drop it in the medium rectangular breadbasket.",
+    "Lift the rounded square loaf and set it in the breadbasket for bread storage.",
+    "Grab the sponge-textured golden bread for the beige breadbasket for holding bread with the left arm",
+    "Lift the soft square bread and transfer to the woven light beige breadbasket.",
+    "Move the golden baked bread to the plastic breadbasket with mesh sides using one arm.",
+    "Grab the sponge-textured golden bread, drop it into the beige breadbasket.",
+    "Drop the golden brown bread into the beige breadbasket",
+    "Pick the soft square bread and move it to the woven light beige breadbasket.",
+    "Put the medium bread with rounded sides into the beige breadbasket for holding bread using an arm.",
+    "Put the soft square bread into the plastic mesh breadbasket after grabbing it.",
+    "Grab the light brown porous bread with an arm and set in the light and textured breadbasket.",
+    "Grab the sponge-textured golden bread with one hand and set it in the beige breadbasket.",
+    "Pick up the golden brown bread and put it in the beige breadbasket.",
+    "Pick the fluffy baked bread and put it into the medium rectangular breadbasket.",
+    "Use the left arm to grab the medium-sized bread piece for the rectangular breadbasket",
+    "Pick up the soft square bread and drop it in the breadbasket with textured sides.",
+    "Use the left arm to grab the golden baked bread and drop it inside the light and textured breadbasket.",
+    "Grab the medium-sized bread piece with the left arm and drop it in the rectangular breadbasket.",
+    "Lift the medium bread with rounded sides and set it in the light and textured breadbasket.",
+    "Grab the rounded square loaf for the medium rectangular breadbasket with the left arm",
+    "Lift the square-shaped bread piece and transfer to the breadbasket for bread storage.",
+    "Move the fluffy baked bread to the light and textured breadbasket using one arm.",
+    "Grab the sponge-textured golden bread, drop it into the plastic breadbasket with mesh sides.",
+    "Drop the sponge-textured golden bread into the plastic breadbasket with mesh sides",
+    "Pick the medium-sized bread piece and move it to the rectangular breadbasket.",
+    "Put the fluffy baked bread into the medium rectangular breadbasket using an arm.",
+    "Put the fluffy baked bread into the breadbasket for bread storage after grabbing it.",
+    "Grab the soft square bread with an arm and set in the breadbasket for bread storage.",
+    "Grab the soft square bread with one hand and set it in the light and textured breadbasket.",
+    "Pick up the golden baked bread and put it in the light beige rectangular breadbasket.",
+    "Pick the light brown porous bread and put it into the beige breadbasket for holding bread.",
+    "Use the left arm to grab the rounded square loaf for the rectangular breadbasket",
+    "Pick up the sponge-textured golden bread and drop it in the beige breadbasket for holding bread.",
+    "Use the left arm to grab the fluffy baked bread and drop it inside the textured beige breadbasket.",
+    "Grab the sponge-textured golden bread with the left arm and drop it in the light and textured breadbasket.",
+    "Lift the bread with rounded edges and set it in the beige breadbasket for holding bread.",
+    "Grab the soft square bread for the beige breadbasket for holding bread with the left arm",
+    "Lift the bread with soft texture and transfer to the beige breadbasket for holding bread.",
+    "Move the golden baked bread to the textured beige breadbasket using one arm.",
+    "Grab the golden baked bread, drop it into the plastic mesh breadbasket.",
+    "Drop the bread with rounded edges into the woven light beige breadbasket",
+    "Pick the soft square bread and move it to the breadbasket for bread storage.",
+    "Put the golden brown bread into the beige breadbasket using an arm.",
+    "Put the medium bread with rounded sides into the breadbasket for bread storage after grabbing it.",
+    "Grab the rounded square loaf with an arm and set in the plastic mesh breadbasket.",
+    "Grab the medium bread with rounded sides with one hand and set it in the woven light beige breadbasket.",
+    "Pick up the golden baked bread and put it in the woven light beige breadbasket.",
+    "Pick the rounded square loaf and put it into the textured beige breadbasket.",
+    "Use the left arm to grab the golden baked bread for the textured beige breadbasket",
+    "Pick up the bread with rounded edges and drop it in the breadbasket for bread storage.",
+    "Use the left arm to grab the fluffy baked bread and drop it inside the plastic mesh breadbasket.",
+    "Grab the fluffy baked bread with the left arm and drop it in the breadbasket with textured sides.",
+    "Lift the soft square bread and set it in the plastic mesh breadbasket.",
+    "Grab the rounded square loaf for the medium rectangular breadbasket with the left arm",
+    "Lift the bread with rounded edges and transfer to the textured beige breadbasket.",
+    "Move the soft square bread to the rectangular breadbasket using one arm.",
+    "Grab the square-shaped bread piece, drop it into the beige breadbasket for holding bread.",
+    "Drop the golden brown bread into the light and textured breadbasket",
+    "Pick the fluffy baked bread and move it to the breadbasket for bread storage.",
+    "Put the fluffy baked bread into the plastic breadbasket with mesh sides using an arm.",
+    "Put the fluffy baked bread into the rectangular breadbasket after grabbing it."
+  ],
+  "unseen": [
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the shallow rectangular breadbasket",
+    "Use one arm to grab the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and place it in the woven shallow breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Place the square bread with light spots into the shallow rectangular breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and drop it in the woven shallow breadbasket",
+    "Use one arm to grab the spongy golden brown bread, drop in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Place the square bread with light spots into the woven shallow breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the square bread with light spots and put it in the breadbasket with woven pattern.",
+    "Pick the square bread with light spots and drop it in the breadbasket with woven pattern",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the woven shallow breadbasket.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with woven pattern.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with woven pattern",
+    "Use one arm to grab the spongy golden brown bread, drop in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and place it in the woven shallow breadbasket.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the woven shallow breadbasket.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the left arm",
+    "Grab the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with woven pattern",
+    "Use one arm to grab the soft bread with golden edges, drop in the woven shallow breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with woven pattern.",
+    "Place the spongy golden brown bread into the woven shallow breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and put it in the woven shallow breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the woven shallow breadbasket",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the woven shallow breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the woven shallow breadbasket.",
+    "Grab the square bread with light spots and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges and put it in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and drop it in the shallow rectangular breadbasket",
+    "Use one arm to grab the square bread with light spots, drop in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the square bread with light spots and place in the woven shallow breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with woven pattern using the left arm",
+    "Grab the square bread with light spots and drop it into the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and drop it in the shallow rectangular breadbasket",
+    "Use one arm to grab the square bread with light spots, drop in the woven shallow breadbasket.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with woven pattern.",
+    "Grab the spongy golden brown bread with one arm, place in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the woven shallow breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots and put it in the shallow rectangular breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with woven pattern",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the woven shallow breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the shallow rectangular breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the shallow rectangular breadbasket.",
+    "Place the spongy golden brown bread into the woven shallow breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with woven pattern.",
+    "Grab the soft bread with golden edges and drop it into the shallow rectangular breadbasket.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with woven pattern.",
+    "Pick the spongy golden brown bread and drop it in the woven shallow breadbasket",
+    "Use one arm to grab the soft bread with golden edges, drop in the shallow rectangular breadbasket.",
+    "Pick the soft bread with golden edges and place it in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the breadbasket with woven pattern.",
+    "Use the left arm to pick the soft bread with golden edges and place in the shallow rectangular breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the shallow rectangular breadbasket.",
+    "Place the soft bread with golden edges into the shallow rectangular breadbasket using the left arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode144.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the bread with rounded corners and the bread with soft texture into the brown breadbasket",
+    "Place the slice-shaped bread and the light brown porous bread in the breadbasket with wicker weave pattern using the dual arm",
+    "Pick up both the bread with rounded corners and the soft square bread, then place them in the breadbasket with wicker weave pattern.",
+    "Put the slice-shaped bread and the sponge-textured golden bread into the breadbasket with smooth woven texture using two arms.",
+    "Simultaneously grab the brown bread loaf and the light brown porous bread, drop in the breadbasket with wicker weave pattern.",
+    "Take the bread loaf with square shape and the golden brown bread together and place them into the light brown wicker breadbasket.",
+    "Lift the square loaf of bread and the golden baked bread at once with the dual arm, then set them in the breadbasket with wicker weave pattern.",
+    "Pick the slice-shaped bread and the sponge-textured golden bread and set them in the woven rectangular breadbasket.",
+    "Use the dual arm to place the brown bread loaf and the fluffy baked bread into the breadbasket for holding bread.",
+    "Grab both the bread with rounded corners and the medium bread with rounded sides with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Grab the bread with rounded corners and the soft square bread quickly and drop them into the breadbasket with rounded edges.",
+    "Shift the square loaf of bread and the rounded square loaf together to the woven rectangular breadbasket.",
+    "Take the golden crusted bread slice and the medium-sized bread piece to the breadbasket for holding bread",
+    "Simultaneously grab the rectangular bread soft inside and the fluffy baked bread using the dual arm, then drop them in the medium-sized rectangular breadbasket.",
+    "Lift the golden bread and the fluffy baked bread with two arms, put in the light brown wicker breadbasket.",
+    "Use two arms and set the brown bread loaf, the medium-sized bread piece in the light brown wicker breadbasket.",
+    "Move the golden crusted bread slice and the golden brown bread at once into the light brown wicker breadbasket.",
+    "Pick the bread with golden surface color and the light brown porous bread, place them in the light brown wicker breadbasket.",
+    "Move the soft golden baked bread and the golden brown bread to the breadbasket with smooth woven texture",
+    "Take the bread with golden surface color and the golden baked bread, place them inside the breadbasket with rounded edges.",
+    "Grab both the slice-shaped bread and the fluffy baked bread, drop into the breadbasket with smooth woven texture.",
+    "Simultaneously use the dual arm to drop the rectangular bread soft inside and the medium bread with rounded sides in the brown breadbasket with rounded corners.",
+    "Use both arms to move the bread with rounded corners, the light brown porous bread to the medium woven breadbasket.",
+    "Grab two breads the bread with firm crust edges and the golden baked bread and place in the smooth textured brown breadbasket.",
+    "Pick the slice-shaped bread and the golden brown bread for the the light brown basket for bread",
+    "Take the brown bread loaf and the fluffy baked bread then place in the brown breadbasket.",
+    "Shift the soft golden baked bread and the bread with rounded edges into the light brown wicker breadbasket",
+    "Place the slice-shaped bread and the light brown porous bread in the brown breadbasket with rounded corners using the dual arm",
+    "Pick up both the bread with firm crust edges and the golden brown bread, then place them in the breadbasket with rounded edges.",
+    "Put the brown bread loaf and the golden baked bread into the smooth textured brown breadbasket using two arms.",
+    "Simultaneously grab the brown bread loaf and the square-shaped bread piece, drop in the breadbasket with wicker weave pattern.",
+    "Take the soft golden baked bread and the light brown porous bread together and place them into the medium woven breadbasket.",
+    "Lift the rectangular bread soft inside and the bread with soft texture at once with the dual arm, then set them in the smooth textured brown breadbasket.",
+    "Pick the soft golden baked bread and the sponge-textured golden bread and set them in the woven rectangular breadbasket.",
+    "Use the dual arm to place the golden brown loaf-shaped bread and the bread with rounded edges into the brown breadbasket with rounded corners.",
+    "Grab both the golden bread and the fluffy baked bread with the dual arm and place in the smooth textured brown breadbasket.",
+    "Grab the slice-shaped bread and the bread with rounded edges quickly and drop them into the breadbasket with rounded edges.",
+    "Shift the golden crusted bread slice and the golden baked bread together to the smooth textured brown breadbasket.",
+    "Take the soft golden baked bread and the medium-sized bread piece to the breadbasket for holding bread",
+    "Simultaneously grab the bread loaf with square shape and the golden baked bread using the dual arm, then drop them in the brown breadbasket.",
+    "Lift the brown bread loaf and the square-shaped bread piece with two arms, put in the breadbasket with rounded edges.",
+    "Use two arms and set the bread with firm crust edges, the medium-sized bread piece in the light brown basket for bread.",
+    "Move the bread loaf with square shape and the medium-sized bread piece at once into the breadbasket with smooth woven texture.",
+    "Pick the bread loaf with square shape and the rounded square loaf, place them in the breadbasket with wicker weave pattern.",
+    "Move the bread with golden surface color and the medium bread with rounded sides to the brown breadbasket with rounded corners",
+    "Take the golden crusted bread slice and the medium-sized bread piece, place them inside the medium-sized rectangular breadbasket.",
+    "Grab both the bread with rounded corners and the medium bread with rounded sides, drop into the brown breadbasket with rounded corners.",
+    "Simultaneously use the dual arm to drop the brown bread loaf and the fluffy baked bread in the light brown basket for bread.",
+    "Use both arms to move the golden brown loaf-shaped bread, the rounded square loaf to the light brown wicker breadbasket.",
+    "Grab two breads the golden bread and the sponge-textured golden bread and place in the smooth textured brown breadbasket.",
+    "Pick the bread with golden surface color and the sponge-textured golden bread for the the breadbasket with rounded edges",
+    "Take the square loaf of bread and the golden brown bread then place in the light brown basket for bread.",
+    "Shift the golden brown loaf-shaped bread and the bread with soft texture into the light brown basket for bread",
+    "Place the soft golden baked bread and the light brown porous bread in the breadbasket with smooth woven texture using the dual arm",
+    "Pick up both the bread with golden surface color and the bread with rounded edges, then place them in the smooth textured brown breadbasket.",
+    "Put the square loaf of bread and the sponge-textured golden bread into the breadbasket with wicker weave pattern using two arms.",
+    "Simultaneously grab the golden bread and the sponge-textured golden bread, drop in the breadbasket with wicker weave pattern.",
+    "Take the golden brown loaf-shaped bread and the rounded square loaf together and place them into the woven rectangular breadbasket.",
+    "Lift the slice-shaped bread and the medium-sized bread piece at once with the dual arm, then set them in the light brown basket for bread.",
+    "Pick the bread with rounded corners and the fluffy baked bread and set them in the breadbasket with wicker weave pattern.",
+    "Use the dual arm to place the bread with firm crust edges and the medium-sized bread piece into the breadbasket with wicker weave pattern.",
+    "Grab both the golden crusted bread slice and the medium bread with rounded sides with the dual arm and place in the medium-sized rectangular breadbasket.",
+    "Grab the golden bread and the fluffy baked bread quickly and drop them into the breadbasket for holding bread.",
+    "Shift the square loaf of bread and the light brown porous bread together to the breadbasket with rounded edges.",
+    "Take the square loaf of bread and the light brown porous bread to the breadbasket with smooth woven texture",
+    "Simultaneously grab the rectangular bread soft inside and the square-shaped bread piece using the dual arm, then drop them in the woven rectangular breadbasket.",
+    "Lift the golden bread and the bread with rounded edges with two arms, put in the brown breadbasket with rounded corners.",
+    "Use two arms and set the golden bread, the medium bread with rounded sides in the breadbasket with smooth woven texture.",
+    "Move the bread with firm crust edges and the bread with rounded edges at once into the smooth textured brown breadbasket.",
+    "Pick the soft golden baked bread and the rounded square loaf, place them in the woven rectangular breadbasket.",
+    "Move the bread loaf with square shape and the sponge-textured golden bread to the breadbasket with smooth woven texture",
+    "Take the bread with rounded corners and the golden brown bread, place them inside the breadbasket for holding bread.",
+    "Grab both the golden brown loaf-shaped bread and the golden baked bread, drop into the breadbasket for holding bread.",
+    "Simultaneously use the dual arm to drop the golden brown loaf-shaped bread and the bread with soft texture in the breadbasket with wicker weave pattern.",
+    "Use both arms to move the golden brown loaf-shaped bread, the rounded square loaf to the light brown wicker breadbasket.",
+    "Grab two breads the slice-shaped bread and the medium-sized bread piece and place in the smooth textured brown breadbasket.",
+    "Pick the square loaf of bread and the sponge-textured golden bread for the the smooth textured brown breadbasket",
+    "Take the bread with golden surface color and the sponge-textured golden bread then place in the breadbasket with smooth woven texture.",
+    "Shift the bread with firm crust edges and the medium bread with rounded sides into the breadbasket for holding bread",
+    "Place the golden brown loaf-shaped bread and the square-shaped bread piece in the woven rectangular breadbasket using the dual arm",
+    "Pick up both the bread with rounded corners and the bread with rounded edges, then place them in the breadbasket for holding bread.",
+    "Put the bread with firm crust edges and the soft square bread into the brown breadbasket with rounded corners using two arms.",
+    "Simultaneously grab the soft golden baked bread and the square-shaped bread piece, drop in the light brown basket for bread.",
+    "Take the soft golden baked bread and the medium bread with rounded sides together and place them into the breadbasket with wicker weave pattern.",
+    "Lift the golden bread and the medium bread with rounded sides at once with the dual arm, then set them in the breadbasket with smooth woven texture.",
+    "Pick the bread with rounded corners and the bread with rounded edges and set them in the woven rectangular breadbasket.",
+    "Use the dual arm to place the rectangular bread soft inside and the sponge-textured golden bread into the breadbasket with wicker weave pattern.",
+    "Grab both the square loaf of bread and the fluffy baked bread with the dual arm and place in the woven rectangular breadbasket.",
+    "Grab the slice-shaped bread and the bread with rounded edges quickly and drop them into the breadbasket with wicker weave pattern.",
+    "Shift the bread loaf with square shape and the golden baked bread together to the medium woven breadbasket.",
+    "Take the golden brown loaf-shaped bread and the fluffy baked bread to the brown breadbasket with rounded corners",
+    "Simultaneously grab the brown bread loaf and the sponge-textured golden bread using the dual arm, then drop them in the brown breadbasket with rounded corners.",
+    "Lift the brown bread loaf and the sponge-textured golden bread with two arms, put in the breadbasket for holding bread.",
+    "Use two arms and set the golden crusted bread slice, the golden baked bread in the medium-sized rectangular breadbasket.",
+    "Move the golden crusted bread slice and the light brown porous bread at once into the breadbasket for holding bread.",
+    "Pick the bread with rounded corners and the sponge-textured golden bread, place them in the breadbasket for holding bread.",
+    "Move the bread with golden surface color and the medium bread with rounded sides to the light brown basket for bread",
+    "Take the bread with rounded corners and the sponge-textured golden bread, place them inside the breadbasket for holding bread.",
+    "Grab both the bread with golden surface color and the soft square bread, drop into the brown breadbasket.",
+    "Simultaneously use the dual arm to drop the golden crusted bread slice and the rounded square loaf in the medium woven breadbasket."
+  ],
+  "unseen": [
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop them into the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the soft bread with golden edges, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the spongy golden brown bread and place in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the soft bread with golden edges, then place them in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the soft bread with golden edges into the rectangular breadbasket using the dual arm",
+    "Pick the soft rectangular bread loaf and the soft bread with golden edges and place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and put them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the soft bread with golden edges, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the rectangular light brown breadbasket.",
+    "Place the bread loaf medium-sized and the spongy golden brown bread into the rectangular breadbasket using the dual arm",
+    "Pick the soft rectangular bread loaf and the spongy golden brown bread and place them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and put them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the square bread with light spots and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the square bread with light spots, then place them in the rectangular breadbasket.",
+    "Place the small loaf-shaped bread and the square bread with light spots into the rectangular light brown breadbasket using the dual arm",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and put them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the square bread with light spots, drop in the rectangular breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the spongy golden brown bread and place in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the soft bread with golden edges into the medium light brown breadbasket using the dual arm",
+    "Pick the soft rectangular bread loaf and the square bread with light spots and place them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the square bread with light spots, then place them in the rectangular light brown breadbasket.",
+    "Place the small loaf-shaped bread and the square bread with light spots into the rectangular light brown breadbasket using the dual arm",
+    "Pick the soft rectangular bread loaf and the square bread with light spots and place them in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and put them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop them into the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft bread with golden edges, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the square bread with light spots, then place them in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the spongy golden brown bread into the medium light brown breadbasket using the dual arm",
+    "Pick the small loaf-shaped bread and the square bread with light spots and place them in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and put them in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the square bread with light spots, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the rectangular light brown breadbasket.",
+    "Place the small loaf-shaped bread and the spongy golden brown bread into the rectangular light brown breadbasket using the dual arm",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the medium light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the spongy golden brown bread and place in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the rectangular light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the spongy golden brown bread, then place them in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the soft bread with golden edges into the rectangular light brown breadbasket using the dual arm",
+    "Pick the small loaf-shaped bread and the spongy golden brown bread and place them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and put them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop them into the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the spongy golden brown bread, drop in the medium light brown breadbasket.",
+    "Use the dual arm to pick the bread loaf medium-sized and the soft bread with golden edges and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick up the small loaf-shaped bread and the square bread with light spots, then place them in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the medium light brown breadbasket using the dual arm",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop them into the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the square bread with light spots, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the square bread with light spots and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop it into the medium light brown breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the spongy golden brown bread into the rectangular breadbasket using the dual arm",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and put them in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop them into the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges with two arms, place in the rectangular light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the soft bread with golden edges, drop in the rectangular light brown breadbasket.",
+    "Use the dual arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop it into the rectangular breadbasket.",
+    "Use the dual arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf and the soft bread with golden edges into the rectangular light brown breadbasket using the dual arm",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and put them in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop them into the rectangular breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode152.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the soft square bread and the square loaf of bread at once into the synthetic material breadbasket.",
+    "Grab both the medium bread with rounded sides and the bread loaf with square shape, drop into the oval breadbasket.",
+    "Simultaneously grab the golden brown bread and the golden bread using the dual arm, then drop them in the light brown breadbasket.",
+    "Use both arms to move the golden brown bread, the rectangular bread soft inside to the oval basket for bread.",
+    "Lift the square-shaped bread piece and the rectangular bread soft inside with two arms, put in the smooth-textured breadbasket.",
+    "Grab both the rounded square loaf and the rectangular bread soft inside with the dual arm and place in the beige basket for holding bread.",
+    "Shift the medium bread with rounded sides and the bread with rounded corners into the light brown breadbasket",
+    "Pick the square-shaped bread piece and the soft golden baked bread, place them in the woven plastic breadbasket.",
+    "Take the medium bread with rounded sides and the golden brown loaf-shaped bread then place in the oval basket for bread.",
+    "Use two arms and set the sponge-textured golden bread, the golden crusted bread slice in the medium oval breadbasket.",
+    "Simultaneously grab the bread with soft texture and the golden bread, drop in the beige basket for holding bread.",
+    "Shift the rounded square loaf and the brown bread loaf together to the two-hand-sized breadbasket.",
+    "Use the dual arm to place the rounded square loaf and the square loaf of bread into the smooth-textured breadbasket.",
+    "Move the soft square bread and the bread with rounded corners to the synthetic material breadbasket",
+    "Pick the fluffy baked bread and the square loaf of bread for the the woven plastic breadbasket",
+    "Pick up both the medium bread with rounded sides and the golden bread, then place them in the synthetic material breadbasket.",
+    "Pick the light brown porous bread and the soft golden baked bread and set them in the beige basket for holding bread.",
+    "Put the medium bread with rounded sides and the bread loaf with square shape into the breadbasket with curved base using two arms.",
+    "Take the medium-sized bread piece and the golden brown loaf-shaped bread together and place them into the medium oval breadbasket.",
+    "Take the light brown porous bread and the golden bread to the light brown breadbasket",
+    "Lift the bread with soft texture and the slice-shaped bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Grab two breads the bread with soft texture and the slice-shaped bread and place in the light brown breadbasket.",
+    "Place the square-shaped bread piece and the bread with firm crust edges in the oval breadbasket using the dual arm",
+    "Take the golden baked bread and the golden crusted bread slice, place them inside the breadbasket with curved base.",
+    "Grab the sponge-textured golden bread and the bread with firm crust edges quickly and drop them into the oval breadbasket.",
+    "Simultaneously use the dual arm to drop the bread with rounded edges and the bread with rounded corners in the breadbasket for small food items.",
+    "Move the medium-sized bread piece and the square loaf of bread at once into the breadbasket with curved base.",
+    "Grab both the medium bread with rounded sides and the brown bread loaf, drop into the beige basket for holding bread.",
+    "Simultaneously grab the square-shaped bread piece and the brown bread loaf using the dual arm, then drop them in the two-hand-sized breadbasket.",
+    "Use both arms to move the bread with rounded edges, the bread with firm crust edges to the two-hand-sized breadbasket.",
+    "Lift the bread with soft texture and the golden crusted bread slice with two arms, put in the medium oval breadbasket.",
+    "Grab both the sponge-textured golden bread and the golden bread with the dual arm and place in the beige basket for holding bread.",
+    "Shift the medium-sized bread piece and the bread with golden surface color into the breadbasket with curved base",
+    "Pick the soft square bread and the rectangular bread soft inside, place them in the oval breadbasket.",
+    "Take the fluffy baked bread and the bread with firm crust edges then place in the beige basket for holding bread.",
+    "Use two arms and set the fluffy baked bread, the bread with rounded corners in the oval breadbasket.",
+    "Simultaneously grab the golden brown bread and the golden bread, drop in the smooth-textured breadbasket.",
+    "Shift the soft square bread and the golden crusted bread slice together to the breadbasket with curved base.",
+    "Use the dual arm to place the rounded square loaf and the bread with rounded corners into the breadbasket for small food items.",
+    "Move the soft square bread and the square loaf of bread to the light brown breadbasket",
+    "Pick the light brown porous bread and the bread with golden surface color for the the woven plastic breadbasket",
+    "Pick up both the golden baked bread and the bread loaf with square shape, then place them in the oval basket for bread.",
+    "Pick the square-shaped bread piece and the golden bread and set them in the woven plastic breadbasket.",
+    "Put the soft square bread and the slice-shaped bread into the oval basket for bread using two arms.",
+    "Take the bread with rounded edges and the bread with golden surface color together and place them into the woven plastic breadbasket.",
+    "Take the medium-sized bread piece and the bread with firm crust edges to the synthetic material breadbasket",
+    "Lift the square-shaped bread piece and the bread with golden surface color at once with the dual arm, then set them in the medium oval breadbasket.",
+    "Grab two breads the golden baked bread and the soft golden baked bread and place in the medium oval breadbasket.",
+    "Place the medium-sized bread piece and the golden bread in the breadbasket with curved base using the dual arm",
+    "Take the bread with rounded edges and the bread with golden surface color, place them inside the breadbasket with curved base.",
+    "Grab the soft square bread and the brown bread loaf quickly and drop them into the smooth-textured breadbasket.",
+    "Simultaneously use the dual arm to drop the medium-sized bread piece and the rectangular bread soft inside in the breadbasket with curved base.",
+    "Move the medium-sized bread piece and the bread with golden surface color at once into the woven plastic breadbasket.",
+    "Grab both the medium bread with rounded sides and the bread with rounded corners, drop into the light brown breadbasket.",
+    "Simultaneously grab the bread with soft texture and the golden bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Use both arms to move the fluffy baked bread, the slice-shaped bread to the breadbasket for small food items.",
+    "Lift the rounded square loaf and the brown bread loaf with two arms, put in the beige basket for holding bread.",
+    "Grab both the medium bread with rounded sides and the golden crusted bread slice with the dual arm and place in the medium oval breadbasket.",
+    "Shift the soft square bread and the soft golden baked bread into the beige basket for holding bread",
+    "Pick the square-shaped bread piece and the golden bread, place them in the woven plastic breadbasket.",
+    "Take the golden brown bread and the brown bread loaf then place in the smooth-textured breadbasket.",
+    "Use two arms and set the golden baked bread, the rectangular bread soft inside in the beige basket for holding bread.",
+    "Simultaneously grab the fluffy baked bread and the soft golden baked bread, drop in the medium oval breadbasket.",
+    "Shift the fluffy baked bread and the brown bread loaf together to the oval breadbasket.",
+    "Use the dual arm to place the bread with rounded edges and the square loaf of bread into the smooth-textured breadbasket.",
+    "Move the medium bread with rounded sides and the rectangular bread soft inside to the synthetic material breadbasket",
+    "Pick the light brown porous bread and the bread with golden surface color for the the basket with light brown weaving",
+    "Pick up both the sponge-textured golden bread and the golden bread, then place them in the oval breadbasket.",
+    "Pick the medium bread with rounded sides and the bread with firm crust edges and set them in the beige basket for holding bread.",
+    "Put the golden baked bread and the bread with firm crust edges into the breadbasket with curved base using two arms.",
+    "Take the sponge-textured golden bread and the bread with golden surface color together and place them into the breadbasket for small food items.",
+    "Take the soft square bread and the golden brown loaf-shaped bread to the smooth-textured breadbasket",
+    "Lift the bread with rounded edges and the square loaf of bread at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Grab two breads the golden baked bread and the brown bread loaf and place in the beige basket for holding bread.",
+    "Place the medium bread with rounded sides and the bread with rounded corners in the woven plastic breadbasket using the dual arm",
+    "Take the medium-sized bread piece and the bread with firm crust edges, place them inside the basket with light brown weaving.",
+    "Grab the medium bread with rounded sides and the soft golden baked bread quickly and drop them into the breadbasket for small food items.",
+    "Simultaneously use the dual arm to drop the light brown porous bread and the bread with rounded corners in the light brown breadbasket.",
+    "Move the golden baked bread and the bread with rounded corners at once into the basket with light brown weaving.",
+    "Grab both the medium bread with rounded sides and the soft golden baked bread, drop into the oval basket for bread.",
+    "Simultaneously grab the fluffy baked bread and the bread with golden surface color using the dual arm, then drop them in the oval breadbasket.",
+    "Use both arms to move the soft square bread, the bread with golden surface color to the light brown breadbasket.",
+    "Lift the fluffy baked bread and the golden crusted bread slice with two arms, put in the light brown breadbasket.",
+    "Grab both the bread with rounded edges and the square loaf of bread with the dual arm and place in the breadbasket with curved base.",
+    "Shift the square-shaped bread piece and the slice-shaped bread into the synthetic material breadbasket",
+    "Pick the medium-sized bread piece and the rectangular bread soft inside, place them in the two-hand-sized breadbasket.",
+    "Take the golden baked bread and the slice-shaped bread then place in the breadbasket for small food items.",
+    "Use two arms and set the bread with soft texture, the rectangular bread soft inside in the woven plastic breadbasket.",
+    "Simultaneously grab the sponge-textured golden bread and the golden brown loaf-shaped bread, drop in the smooth-textured breadbasket.",
+    "Shift the golden baked bread and the bread with golden surface color together to the two-hand-sized breadbasket.",
+    "Use the dual arm to place the medium-sized bread piece and the bread with golden surface color into the oval breadbasket.",
+    "Move the bread with soft texture and the bread loaf with square shape to the smooth-textured breadbasket",
+    "Pick the fluffy baked bread and the golden crusted bread slice for the the medium oval breadbasket",
+    "Pick up both the light brown porous bread and the bread with golden surface color, then place them in the medium oval breadbasket.",
+    "Pick the light brown porous bread and the golden crusted bread slice and set them in the beige basket for holding bread.",
+    "Put the sponge-textured golden bread and the golden brown loaf-shaped bread into the breadbasket with curved base using two arms.",
+    "Take the light brown porous bread and the bread with firm crust edges together and place them into the woven plastic breadbasket.",
+    "Take the rounded square loaf and the slice-shaped bread to the two-hand-sized breadbasket",
+    "Lift the medium bread with rounded sides and the brown bread loaf at once with the dual arm, then set them in the two-hand-sized breadbasket.",
+    "Grab two breads the bread with soft texture and the golden bread and place in the oval breadbasket."
+  ],
+  "unseen": [
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the square bread with light spots and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft rectangular bread loaf, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and the small loaf-shaped bread and place them in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the spongy golden brown bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Pick the square bread with light spots and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots and the soft rectangular bread loaf, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft bread with golden edges and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop them into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Place the square bread with light spots and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Grab the square bread with light spots and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Pick the spongy golden brown bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Place the square bread with light spots and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Grab the square bread with light spots and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Use the dual arm to pick up the soft bread with golden edges and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the small loaf-shaped bread, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the soft rectangular bread loaf and put them in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft rectangular bread loaf and place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and the soft rectangular bread loaf and place them in the medium-sized breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode167.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the round bread with braided top and the sponge-textured golden bread to the oval perforated breadbasket white edges",
+    "Simultaneously grab the golden brown bread with braided design and the square-shaped bread piece using the dual arm, then drop them in the oval perforated breadbasket white edges.",
+    "Use two arms and set the braided bread loaf, the bread with rounded edges in the basket for carrying bread beige.",
+    "Shift the small bread and the fluffy baked bread together to the basket for carrying bread beige.",
+    "Move the golden brown bread with braided design and the sponge-textured golden bread at once into the oval perforated breadbasket white edges.",
+    "Grab both the round bread with crusty texture and the sponge-textured golden bread with the dual arm and place in the smooth textured breadbasket.",
+    "Shift the round bread with crusty texture and the bread with soft texture into the oval-shaped breadbasket",
+    "Simultaneously grab the smooth crusty small bread and the medium-sized bread piece, drop in the medium breadbasket with perforated sides.",
+    "Take the bread with golden crust and the medium-sized bread piece then place in the beige plastic breadbasket.",
+    "Grab the round bread with braided top and the soft square bread quickly and drop them into the basket for bread beige plastic.",
+    "Pick up both the round bread with crusty texture and the medium-sized bread piece, then place them in the smooth textured breadbasket.",
+    "Put the round bread with crusty texture and the bread with rounded edges into the basket for bread beige plastic using two arms.",
+    "Take the bread with golden crust and the fluffy baked bread, place them inside the smooth textured breadbasket.",
+    "Place the braided bread loaf and the light brown porous bread in the beige breadbasket using the dual arm",
+    "Grab two breads the small golden baked bread and the fluffy baked bread and place in the beige breadbasket.",
+    "Use both arms to move the small bread, the medium-sized bread piece to the oval-shaped breadbasket.",
+    "Pick the golden bread loaf with soft inside and the golden brown bread and set them in the medium oval basket for bread.",
+    "Take the braided bread loaf and the golden baked bread together and place them into the beige basket with white grid design.",
+    "Lift the bread with golden crust and the fluffy baked bread at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Pick the golden brown bread and the medium-sized bread piece for the the medium plastic breadbasket oval shape",
+    "Grab both the golden brown bread and the soft square bread, drop into the oval-shaped breadbasket.",
+    "Simultaneously use the dual arm to drop the soft doughy bread and the medium bread with rounded sides in the oval perforated breadbasket white edges.",
+    "Take the soft doughy bread and the square-shaped bread piece to the smooth textured breadbasket",
+    "Lift the round bread with crusty texture and the bread with soft texture with two arms, put in the medium plastic breadbasket oval shape.",
+    "Pick the braided bread loaf and the golden baked bread, place them in the medium oval basket for bread.",
+    "Use the dual arm to place the round bread with braided top and the square-shaped bread piece into the beige plastic breadbasket.",
+    "Move the soft golden bread and the golden brown bread to the medium plastic breadbasket oval shape",
+    "Simultaneously grab the small golden baked bread and the medium-sized bread piece using the dual arm, then drop them in the basket for bread beige plastic.",
+    "Use two arms and set the soft doughy bread, the soft square bread in the medium breadbasket with perforated sides.",
+    "Shift the smooth crusty small bread and the golden brown bread together to the beige breadbasket.",
+    "Move the small golden baked bread and the golden baked bread at once into the medium oval basket for bread.",
+    "Grab both the small bread and the medium bread with rounded sides with the dual arm and place in the beige breadbasket.",
+    "Shift the braided bread loaf and the golden brown bread into the oval perforated breadbasket white edges",
+    "Simultaneously grab the smooth crusty small bread and the medium bread with rounded sides, drop in the beige basket with white grid design.",
+    "Take the round bread with crusty texture and the soft square bread then place in the medium plastic breadbasket oval shape.",
+    "Grab the braided bread loaf and the medium bread with rounded sides quickly and drop them into the beige plastic breadbasket.",
+    "Pick up both the smooth crusty small bread and the bread with soft texture, then place them in the beige plastic breadbasket.",
+    "Put the soft doughy bread and the sponge-textured golden bread into the oval-shaped breadbasket using two arms.",
+    "Take the small golden baked bread and the bread with rounded edges, place them inside the beige breadbasket.",
+    "Place the golden brown bread with braided design and the square-shaped bread piece in the basket for carrying bread beige using the dual arm",
+    "Grab two breads the round bread with crusty texture and the fluffy baked bread and place in the basket for carrying bread beige.",
+    "Use both arms to move the bread with golden crust, the light brown porous bread to the beige basket with white grid design.",
+    "Pick the round bread with crusty texture and the soft square bread and set them in the oval-shaped breadbasket.",
+    "Take the small bread and the bread with rounded edges together and place them into the beige breadbasket.",
+    "Lift the golden brown bread with braided design and the fluffy baked bread at once with the dual arm, then set them in the oval-shaped breadbasket.",
+    "Pick the golden brown bread and the golden brown bread for the the medium breadbasket with perforated sides",
+    "Grab both the round bread with braided top and the golden baked bread, drop into the basket for carrying bread beige.",
+    "Simultaneously use the dual arm to drop the golden bread loaf with soft inside and the bread with rounded edges in the white oval breadbasket.",
+    "Take the round bread with braided top and the sponge-textured golden bread to the beige basket with white grid design",
+    "Lift the round bread with braided top and the golden brown bread with two arms, put in the basket for bread beige plastic.",
+    "Pick the soft golden bread and the square-shaped bread piece, place them in the medium breadbasket with perforated sides.",
+    "Use the dual arm to place the round bread with braided top and the sponge-textured golden bread into the medium breadbasket with perforated sides.",
+    "Move the braided bread loaf and the square-shaped bread piece to the beige basket with white grid design",
+    "Simultaneously grab the small bread and the light brown porous bread using the dual arm, then drop them in the beige breadbasket.",
+    "Use two arms and set the small golden baked bread, the rounded square loaf in the smooth textured breadbasket.",
+    "Shift the soft doughy bread and the medium-sized bread piece together to the medium breadbasket with perforated sides.",
+    "Move the small golden baked bread and the square-shaped bread piece at once into the oval perforated breadbasket white edges.",
+    "Grab both the soft doughy bread and the bread with soft texture with the dual arm and place in the oval perforated breadbasket white edges.",
+    "Shift the small bread and the golden brown bread into the oval-shaped breadbasket",
+    "Simultaneously grab the round bread with crusty texture and the medium bread with rounded sides, drop in the medium oval basket for bread.",
+    "Take the golden brown bread with braided design and the fluffy baked bread then place in the medium oval basket for bread.",
+    "Grab the bread with golden crust and the golden brown bread quickly and drop them into the basket for bread beige plastic.",
+    "Pick up both the small bread and the golden baked bread, then place them in the medium breadbasket with perforated sides.",
+    "Put the golden brown bread with braided design and the soft square bread into the medium breadbasket with perforated sides using two arms.",
+    "Take the soft doughy bread and the medium-sized bread piece, place them inside the white oval breadbasket.",
+    "Place the braided bread loaf and the medium bread with rounded sides in the medium plastic breadbasket oval shape using the dual arm",
+    "Grab two breads the braided bread loaf and the golden brown bread and place in the beige plastic breadbasket.",
+    "Use both arms to move the round bread with braided top, the bread with soft texture to the beige breadbasket.",
+    "Pick the golden brown bread and the soft square bread and set them in the basket for carrying bread beige.",
+    "Take the golden bread loaf with soft inside and the bread with soft texture together and place them into the smooth textured breadbasket.",
+    "Lift the bread with golden crust and the bread with rounded edges at once with the dual arm, then set them in the oval-shaped breadbasket.",
+    "Pick the small golden baked bread and the bread with rounded edges for the the oval perforated breadbasket white edges",
+    "Grab both the round bread with crusty texture and the bread with rounded edges, drop into the basket for bread beige plastic.",
+    "Simultaneously use the dual arm to drop the golden brown bread and the golden baked bread in the beige plastic breadbasket.",
+    "Take the round bread with crusty texture and the medium-sized bread piece to the medium oval basket for bread",
+    "Lift the braided bread loaf and the medium bread with rounded sides with two arms, put in the beige basket with white grid design.",
+    "Pick the golden bread loaf with soft inside and the golden baked bread, place them in the medium plastic breadbasket oval shape.",
+    "Use the dual arm to place the soft doughy bread and the light brown porous bread into the basket for carrying bread beige.",
+    "Move the golden bread loaf with soft inside and the golden baked bread to the beige basket with white grid design",
+    "Simultaneously grab the smooth crusty small bread and the bread with soft texture using the dual arm, then drop them in the medium plastic breadbasket oval shape.",
+    "Use two arms and set the smooth crusty small bread, the fluffy baked bread in the basket for carrying bread beige.",
+    "Shift the small golden baked bread and the golden baked bread together to the beige breadbasket.",
+    "Move the braided bread loaf and the golden baked bread at once into the oval-shaped breadbasket.",
+    "Grab both the smooth crusty small bread and the light brown porous bread with the dual arm and place in the medium plastic breadbasket oval shape.",
+    "Shift the braided bread loaf and the fluffy baked bread into the oval perforated breadbasket white edges",
+    "Simultaneously grab the round bread with braided top and the fluffy baked bread, drop in the oval-shaped breadbasket.",
+    "Take the bread with golden crust and the rounded square loaf then place in the basket for bread beige plastic.",
+    "Grab the small bread and the rounded square loaf quickly and drop them into the oval perforated breadbasket white edges.",
+    "Pick up both the golden bread loaf with soft inside and the square-shaped bread piece, then place them in the oval perforated breadbasket white edges.",
+    "Put the small bread and the golden brown bread into the medium breadbasket with perforated sides using two arms.",
+    "Take the soft golden bread and the medium bread with rounded sides, place them inside the white oval breadbasket.",
+    "Place the golden bread loaf with soft inside and the golden brown bread in the smooth textured breadbasket using the dual arm",
+    "Grab two breads the bread with golden crust and the soft square bread and place in the basket for bread beige plastic.",
+    "Use both arms to move the small golden baked bread, the golden baked bread to the medium plastic breadbasket oval shape.",
+    "Pick the small golden baked bread and the soft square bread and set them in the medium plastic breadbasket oval shape.",
+    "Take the smooth crusty small bread and the fluffy baked bread together and place them into the oval-shaped breadbasket.",
+    "Lift the braided bread loaf and the soft square bread at once with the dual arm, then set them in the smooth textured breadbasket.",
+    "Pick the smooth crusty small bread and the rounded square loaf for the the oval perforated breadbasket white edges",
+    "Grab both the soft golden bread and the medium bread with rounded sides, drop into the oval-shaped breadbasket.",
+    "Simultaneously use the dual arm to drop the small golden baked bread and the rounded square loaf in the medium breadbasket with perforated sides."
+  ],
+  "unseen": [
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the round braided loaf and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the round braided loaf and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the soft bread with golden edges, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the palm-sized braided golden bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the braided top round bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the white basket with beige bottom.",
+    "Use one arm to grab the round braided loaf and the square bread with light spots, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Place the braided top round bread and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the braided top round bread and the soft bread with golden edges and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use one arm to grab the palm-sized braided golden bread and the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the palm-sized braided golden bread and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the round braided loaf and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the soft bread with golden edges into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the braided top round bread and the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the soft bread with golden edges, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf and the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the white basket with beige bottom.",
+    "Grab the round braided loaf and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the spongy golden brown bread into the white basket with beige bottom using the dual arm",
+    "Grab the round braided loaf and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the soft bread with golden edges and place in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the round braided loaf and the soft bread with golden edges and place them in the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the palm-sized braided golden bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop them into the breadbasket with smooth bottom grid sides.",
+    "Use the dual arm to pick the braided top round bread and the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Use one arm to grab the palm-sized braided golden bread and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the white basket with beige bottom.",
+    "Place the palm-sized braided golden bread and the spongy golden brown bread into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the round braided loaf and the spongy golden brown bread and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the spongy golden brown bread and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the braided top round bread and the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the white basket with beige bottom.",
+    "Use the dual arm to pick up the braided top round bread and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges with two arms, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the spongy golden brown bread and put them in the breadbasket with smooth bottom grid sides.",
+    "Place the braided top round bread and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf and the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the round braided loaf and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the spongy golden brown bread with two arms, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the square bread with light spots and put them in the white basket with beige bottom.",
+    "Place the braided top round bread and the square bread with light spots into the breadbasket with hollowed white walls using the dual arm",
+    "Grab the round braided loaf and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and the soft bread with golden edges and drop it into the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the braided top round bread and the spongy golden brown bread, then place them in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and the square bread with light spots and put them in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the soft bread with golden edges into the breadbasket with smooth bottom grid sides using the dual arm",
+    "Grab the braided top round bread and the square bread with light spots and drop them into the white basket with beige bottom.",
+    "Use the dual arm to pick the round braided loaf and the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf and the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Pick the palm-sized braided golden bread and the spongy golden brown bread and place them in the breadbasket with hollowed white walls.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the square bread with light spots, then place them in the white basket with beige bottom.",
+    "Grab the round braided loaf and the square bread with light spots with two arms, place in the white basket with beige bottom.",
+    "Grab the braided top round bread and the soft bread with golden edges and put them in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf and the soft bread with golden edges into the white basket with beige bottom using the dual arm",
+    "Grab the palm-sized braided golden bread and the soft bread with golden edges and drop them into the breadbasket with smooth bottom grid sides."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode174.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use two arms and set the hand-sized oval loaf, the golden brown bread in the smooth textured brown breadbasket.",
+    "Pick the small loaf with curved top and the round bread with braided top and set them in the breadbasket with wicker weave pattern.",
+    "Grab two breads the bread with golden-brown crust and the small bread and place in the breadbasket for holding bread.",
+    "Pick the small loaf with curved top and the golden brown bread for the the brown breadbasket",
+    "Pick up both the light brown loaf with smooth sides and the braided bread loaf, then place them in the light brown wicker breadbasket.",
+    "Put the light brown loaf with smooth sides and the round bread with braided top into the brown breadbasket with rounded corners using two arms.",
+    "Take the smooth loaf with rounded edges and the soft golden bread to the brown breadbasket with rounded corners",
+    "Simultaneously grab the small golden brown bread and the golden brown bread with braided design, drop in the brown breadbasket with rounded corners.",
+    "Grab both the golden bread loaf and the soft doughy bread, drop into the brown breadbasket with rounded corners.",
+    "Take the smooth loaf with rounded edges and the bread with golden crust together and place them into the brown breadbasket with rounded corners.",
+    "Shift the small loaf with curved top and the small golden baked bread together to the breadbasket for holding bread.",
+    "Grab both the hand-sized oval loaf and the small bread with the right arm and place in the medium woven breadbasket.",
+    "Use the right arm to place the hand-sized oval loaf and the golden brown bread into the light brown wicker breadbasket.",
+    "Take the golden bread loaf and the small bread, place them inside the medium-sized rectangular breadbasket.",
+    "Take the light brown bread with ridges and the round bread with braided top then place in the medium woven breadbasket.",
+    "Simultaneously use the right arm to drop the hand-sized oval loaf and the soft doughy bread in the brown breadbasket.",
+    "Pick the brown loaf and the round bread with braided top, place them in the light brown wicker breadbasket.",
+    "Lift the light brown loaf with smooth sides and the round bread with crusty texture at once with the right arm, then set them in the brown breadbasket with rounded corners.",
+    "Move the small loaf with curved top and the bread with golden crust at once into the brown breadbasket.",
+    "Simultaneously grab the brown loaf and the smooth crusty small bread using the right arm, then drop them in the light brown basket for bread.",
+    "Place the soft brown bread and the round bread with braided top in the medium-sized rectangular breadbasket using the right arm",
+    "Lift the bread with split top and the braided bread loaf with two arms, put in the smooth textured brown breadbasket.",
+    "Shift the small golden brown bread and the bread with golden crust into the woven rectangular breadbasket",
+    "Grab the small golden brown bread and the soft golden bread quickly and drop them into the light brown wicker breadbasket.",
+    "Move the bread with split top and the round bread with braided top to the light brown basket for bread",
+    "Use both arms to move the light brown bread with ridges, the smooth crusty small bread to the medium-sized rectangular breadbasket.",
+    "Use two arms and set the hand-sized oval loaf, the round bread with braided top in the breadbasket with rounded edges.",
+    "Pick the hand-sized oval loaf and the golden brown bread with braided design and set them in the breadbasket with smooth woven texture.",
+    "Grab two breads the hand-sized oval loaf and the golden brown bread with braided design and place in the brown breadbasket with rounded corners.",
+    "Pick the soft brown bread and the smooth crusty small bread for the the medium woven breadbasket",
+    "Pick up both the light brown loaf with smooth sides and the golden brown bread, then place them in the brown breadbasket with rounded corners.",
+    "Put the brown loaf and the round bread with crusty texture into the light brown basket for bread using two arms.",
+    "Take the golden bread loaf and the soft golden bread to the smooth textured brown breadbasket",
+    "Simultaneously grab the light brown loaf with smooth sides and the round bread with braided top, drop in the breadbasket with smooth woven texture.",
+    "Grab both the soft brown bread and the small bread, drop into the medium-sized rectangular breadbasket.",
+    "Take the brown loaf and the small bread together and place them into the light brown wicker breadbasket.",
+    "Shift the smooth loaf with rounded edges and the soft doughy bread together to the breadbasket for holding bread.",
+    "Grab both the light brown bread with ridges and the small golden baked bread with the right arm and place in the woven rectangular breadbasket.",
+    "Use the right arm to place the brown loaf and the bread with golden crust into the breadbasket for holding bread.",
+    "Take the small loaf with curved top and the small bread, place them inside the breadbasket with wicker weave pattern.",
+    "Take the light brown loaf with smooth sides and the golden bread loaf with soft inside then place in the smooth textured brown breadbasket.",
+    "Simultaneously use the right arm to drop the brown loaf and the golden bread loaf with soft inside in the breadbasket with rounded edges.",
+    "Pick the golden bread loaf and the soft golden bread, place them in the light brown wicker breadbasket.",
+    "Lift the hand-sized oval loaf and the braided bread loaf at once with the right arm, then set them in the light brown wicker breadbasket.",
+    "Move the hand-sized oval loaf and the braided bread loaf at once into the medium woven breadbasket.",
+    "Simultaneously grab the light brown loaf with smooth sides and the braided bread loaf using the right arm, then drop them in the brown breadbasket with rounded corners.",
+    "Place the hand-sized oval loaf and the smooth crusty small bread in the medium woven breadbasket using the right arm",
+    "Lift the light brown loaf with smooth sides and the small bread with two arms, put in the light brown basket for bread.",
+    "Shift the brown loaf and the golden brown bread into the light brown wicker breadbasket",
+    "Grab the light brown loaf with smooth sides and the braided bread loaf quickly and drop them into the brown breadbasket with rounded corners.",
+    "Move the small golden brown bread and the golden bread loaf with soft inside to the brown breadbasket",
+    "Use both arms to move the golden bread loaf, the soft doughy bread to the breadbasket with rounded edges.",
+    "Use two arms and set the bread with warm golden color, the soft doughy bread in the breadbasket with wicker weave pattern.",
+    "Pick the bread with split top and the braided bread loaf and set them in the medium-sized rectangular breadbasket.",
+    "Grab two breads the soft brown bread and the round bread with crusty texture and place in the woven rectangular breadbasket.",
+    "Pick the small golden brown bread and the smooth crusty small bread for the the breadbasket for holding bread",
+    "Pick up both the smooth loaf with rounded edges and the smooth crusty small bread, then place them in the breadbasket with wicker weave pattern.",
+    "Put the light brown bread with ridges and the golden brown bread into the breadbasket with smooth woven texture using two arms.",
+    "Take the soft brown bread and the soft golden bread to the light brown wicker breadbasket",
+    "Simultaneously grab the small loaf with curved top and the soft golden bread, drop in the woven rectangular breadbasket.",
+    "Grab both the small loaf with curved top and the golden brown bread with braided design, drop into the medium woven breadbasket.",
+    "Take the small golden brown bread and the small bread together and place them into the breadbasket with wicker weave pattern.",
+    "Shift the hand-sized oval loaf and the bread with golden crust together to the medium-sized rectangular breadbasket.",
+    "Grab both the golden bread loaf and the small golden baked bread with the right arm and place in the breadbasket for holding bread.",
+    "Use the right arm to place the light brown loaf with smooth sides and the golden brown bread into the brown breadbasket with rounded corners.",
+    "Take the light brown loaf with smooth sides and the golden brown bread with braided design, place them inside the woven rectangular breadbasket.",
+    "Take the bread with split top and the soft doughy bread then place in the medium woven breadbasket.",
+    "Simultaneously use the right arm to drop the light brown loaf with smooth sides and the bread with golden crust in the smooth textured brown breadbasket.",
+    "Pick the brown loaf and the braided bread loaf, place them in the light brown wicker breadbasket.",
+    "Lift the smooth loaf with rounded edges and the braided bread loaf at once with the right arm, then set them in the breadbasket with wicker weave pattern.",
+    "Move the bread with golden-brown crust and the golden bread loaf with soft inside at once into the woven rectangular breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the golden brown bread using the right arm, then drop them in the medium woven breadbasket.",
+    "Place the small loaf with curved top and the round bread with braided top in the breadbasket with rounded edges using the right arm",
+    "Lift the hand-sized oval loaf and the soft golden bread with two arms, put in the smooth textured brown breadbasket.",
+    "Shift the bread with golden-brown crust and the golden bread loaf with soft inside into the light brown basket for bread",
+    "Grab the small loaf with curved top and the golden brown bread quickly and drop them into the woven rectangular breadbasket.",
+    "Move the small loaf with curved top and the golden brown bread with braided design to the breadbasket with wicker weave pattern",
+    "Use both arms to move the golden bread loaf, the braided bread loaf to the light brown wicker breadbasket.",
+    "Use two arms and set the bread with golden-brown crust, the golden bread loaf with soft inside in the breadbasket with wicker weave pattern.",
+    "Pick the bread with warm golden color and the golden brown bread and set them in the smooth textured brown breadbasket.",
+    "Grab two breads the smooth loaf with rounded edges and the smooth crusty small bread and place in the brown breadbasket.",
+    "Pick the soft brown bread and the golden brown bread for the the light brown wicker breadbasket",
+    "Pick up both the bread with golden-brown crust and the golden bread loaf with soft inside, then place them in the breadbasket with rounded edges.",
+    "Put the brown loaf and the round bread with braided top into the brown breadbasket using two arms.",
+    "Take the light brown bread with ridges and the bread with golden crust to the breadbasket with rounded edges",
+    "Simultaneously grab the brown loaf and the braided bread loaf, drop in the light brown wicker breadbasket.",
+    "Grab both the light brown bread with ridges and the round bread with crusty texture, drop into the breadbasket with wicker weave pattern.",
+    "Take the bread with warm golden color and the round bread with braided top together and place them into the brown breadbasket.",
+    "Shift the bread with golden-brown crust and the small golden baked bread together to the light brown wicker breadbasket.",
+    "Grab both the bread with golden-brown crust and the golden brown bread with the right arm and place in the brown breadbasket.",
+    "Use the right arm to place the bread with golden-brown crust and the golden bread loaf with soft inside into the light brown basket for bread.",
+    "Take the bread with golden-brown crust and the golden bread loaf with soft inside, place them inside the breadbasket with smooth woven texture.",
+    "Take the bread with golden-brown crust and the small golden baked bread then place in the woven rectangular breadbasket.",
+    "Simultaneously use the right arm to drop the soft brown bread and the braided bread loaf in the woven rectangular breadbasket.",
+    "Pick the small loaf with curved top and the small golden baked bread, place them in the breadbasket with wicker weave pattern.",
+    "Lift the smooth loaf with rounded edges and the soft doughy bread at once with the right arm, then set them in the woven rectangular breadbasket.",
+    "Move the small golden brown bread and the round bread with braided top at once into the brown breadbasket with rounded corners.",
+    "Simultaneously grab the brown loaf and the golden brown bread using the right arm, then drop them in the brown breadbasket.",
+    "Place the bread with warm golden color and the round bread with crusty texture in the brown breadbasket with rounded corners using the right arm",
+    "Lift the smooth loaf with rounded edges and the round bread with braided top with two arms, put in the woven rectangular breadbasket."
+  ],
+  "unseen": [
+    "Pick the rounded oval bread and the palm-sized braided golden bread and place them in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop it into the rectangular breadbasket.",
+    "Grab the rounded oval bread and the braided top round bread with two arms, place in the rectangular breadbasket.",
+    "Use the right arm to pick the oval bread and the palm-sized braided golden bread and place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and put them in the rectangular light brown breadbasket.",
+    "Place the oval-shaped soft bread and the palm-sized braided golden bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the oval bread and the braided top round bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the palm-sized braided golden bread, drop in the rectangular light brown breadbasket.",
+    "Pick the oval bread and the braided top round bread and place them in the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread with two arms, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval bread and the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and put them in the rectangular breadbasket.",
+    "Place the oval bread and the round braided loaf into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the oval-shaped soft bread and the round braided loaf, then place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the oval bread and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Pick the rounded oval bread and the braided top round bread and place them in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread with two arms, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the oval bread and the braided top round bread and place in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Place the rounded oval bread and the braided top round bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the rounded oval bread and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Pick the oval-shaped soft bread and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and drop it into the rectangular light brown breadbasket.",
+    "Grab the oval bread and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and put them in the medium light brown breadbasket.",
+    "Place the oval bread and the palm-sized braided golden bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the rounded oval bread and the round braided loaf, then place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and drop them into the rectangular breadbasket.",
+    "Use one arm to grab the rounded oval bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Pick the oval bread and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf with two arms, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the oval bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Place the oval-shaped soft bread and the palm-sized braided golden bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the oval bread and the palm-sized braided golden bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Grab the oval bread and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and put them in the medium light brown breadbasket.",
+    "Place the rounded oval bread and the round braided loaf into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the rounded oval bread and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the round braided loaf, drop in the medium light brown breadbasket.",
+    "Pick the rounded oval bread and the braided top round bread and place them in the medium light brown breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf with two arms, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread and put them in the rectangular light brown breadbasket.",
+    "Place the rounded oval bread and the round braided loaf into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the oval-shaped soft bread and the palm-sized braided golden bread, then place them in the medium light brown breadbasket.",
+    "Grab the oval bread and the braided top round bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Pick the rounded oval bread and the round braided loaf and place them in the medium light brown breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread with two arms, place in the rectangular breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Grab the oval bread and the braided top round bread and put them in the rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the braided top round bread into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the rounded oval bread and the palm-sized braided golden bread, then place them in the rectangular light brown breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the rounded oval bread and the round braided loaf, drop in the rectangular breadbasket.",
+    "Pick the rounded oval bread and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the round braided loaf and drop it into the rectangular breadbasket.",
+    "Grab the oval bread and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and put them in the rectangular light brown breadbasket.",
+    "Place the oval bread and the palm-sized braided golden bread into the rectangular breadbasket using the right arm",
+    "Use the right arm to pick up the oval bread and the palm-sized braided golden bread, then place them in the rectangular breadbasket.",
+    "Grab the oval bread and the round braided loaf and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the oval bread and the braided top round bread, drop in the rectangular breadbasket.",
+    "Pick the rounded oval bread and the palm-sized braided golden bread and place them in the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval bread and the round braided loaf with two arms, place in the rectangular breadbasket.",
+    "Use the right arm to pick the rounded oval bread and the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Grab the rounded oval bread and the round braided loaf and put them in the rectangular breadbasket.",
+    "Place the oval-shaped soft bread and the braided top round bread into the medium light brown breadbasket using the right arm",
+    "Use the right arm to pick up the rounded oval bread and the round braided loaf, then place them in the medium light brown breadbasket.",
+    "Grab the rounded oval bread and the braided top round bread and drop them into the rectangular light brown breadbasket.",
+    "Use one arm to grab the rounded oval bread and the palm-sized braided golden bread, drop in the rectangular breadbasket.",
+    "Pick the oval bread and the braided top round bread and place them in the rectangular light brown breadbasket.",
+    "Grab the oval bread and the braided top round bread and drop it into the medium light brown breadbasket.",
+    "Grab the oval-shaped soft bread and the braided top round bread with two arms, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the oval-shaped soft bread and the round braided loaf and place in the rectangular breadbasket.",
+    "Grab the oval bread and the palm-sized braided golden bread and put them in the medium light brown breadbasket.",
+    "Place the oval-shaped soft bread and the palm-sized braided golden bread into the rectangular light brown breadbasket using the right arm",
+    "Use the right arm to pick up the oval bread and the braided top round bread, then place them in the rectangular breadbasket.",
+    "Grab the oval-shaped soft bread and the palm-sized braided golden bread and drop them into the medium light brown breadbasket.",
+    "Use one arm to grab the oval bread and the palm-sized braided golden bread, drop in the medium light brown breadbasket.",
+    "Pick the oval-shaped soft bread and the round braided loaf and place them in the rectangular breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode180.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the braided bread loaf to the medium breadbasket using one arm.",
+    "Pick the small golden baked bread and put it into the breadbasket with flat base.",
+    "Put the round bread with crusty texture into the smooth beige breadbasket after grabbing it.",
+    "Pick up the small golden baked bread and put it in the breadbasket shaped like a bowl.",
+    "Pick up the soft golden bread and drop it in the breadbasket with flat base.",
+    "Use the right arm to grab the soft doughy bread and drop it inside the medium breadbasket.",
+    "Lift the small golden baked bread and transfer to the breadbasket with flat base.",
+    "Grab the smooth crusty small bread with one hand and set it in the breadbasket shaped like a bowl.",
+    "Grab the bread with golden crust for the breadbasket shaped like a bowl with the right arm",
+    "Grab the soft golden bread, drop it into the medium breadbasket.",
+    "Pick the golden brown bread and move it to the palm-sized breadbasket.",
+    "Grab the small golden baked bread with the right arm and drop it in the breadbasket for baking.",
+    "Put the small bread into the breadbasket with spiral lines using an arm.",
+    "Grab the golden brown bread with braided design with an arm and set in the wooden breadbasket.",
+    "Lift the small golden baked bread and set it in the spiral ridged breadbasket.",
+    "Use the right arm to grab the small golden baked bread for the smooth beige breadbasket",
+    "Drop the golden bread loaf with soft inside into the round breadbasket",
+    "Move the golden bread loaf with soft inside to the breadbasket shaped like a bowl using one arm.",
+    "Pick the golden bread loaf with soft inside and put it into the palm-sized breadbasket.",
+    "Put the soft doughy bread into the medium breadbasket after grabbing it.",
+    "Pick up the smooth crusty small bread and put it in the breadbasket with flat base.",
+    "Pick up the small bread and drop it in the round breadbasket.",
+    "Use the right arm to grab the small golden baked bread and drop it inside the smooth beige breadbasket.",
+    "Lift the soft golden bread and transfer to the smooth beige breadbasket.",
+    "Grab the soft golden bread with one hand and set it in the breadbasket made of woven wood.",
+    "Grab the small bread for the medium breadbasket with the right arm",
+    "Grab the round bread with crusty texture, drop it into the breadbasket made of woven wood.",
+    "Pick the golden bread loaf with soft inside and move it to the wooden breadbasket.",
+    "Grab the small bread with the right arm and drop it in the breadbasket shaped like a bowl.",
+    "Put the round bread with braided top into the breadbasket for baking using an arm.",
+    "Grab the golden brown bread with an arm and set in the smooth beige breadbasket.",
+    "Lift the golden brown bread with braided design and set it in the breadbasket shaped like a bowl.",
+    "Use the right arm to grab the round bread with braided top for the breadbasket made of woven wood",
+    "Drop the smooth crusty small bread into the medium breadbasket",
+    "Move the braided bread loaf to the palm-sized breadbasket using one arm.",
+    "Pick the small bread and put it into the breadbasket shaped like a bowl.",
+    "Put the golden brown bread into the smooth beige breadbasket after grabbing it.",
+    "Pick up the bread with golden crust and put it in the breadbasket with spiral lines.",
+    "Pick up the bread with golden crust and drop it in the medium breadbasket.",
+    "Use the right arm to grab the smooth crusty small bread and drop it inside the spiral ridged breadbasket.",
+    "Lift the braided bread loaf and transfer to the round breadbasket.",
+    "Grab the round bread with braided top with one hand and set it in the medium breadbasket.",
+    "Grab the golden brown bread for the breadbasket for dough with the right arm",
+    "Grab the smooth crusty small bread, drop it into the medium breadbasket.",
+    "Pick the golden brown bread with braided design and move it to the palm-sized breadbasket.",
+    "Grab the round bread with crusty texture with the right arm and drop it in the breadbasket with spiral lines.",
+    "Put the golden brown bread with braided design into the smooth beige breadbasket using an arm.",
+    "Grab the small golden baked bread with an arm and set in the breadbasket for baking.",
+    "Lift the golden brown bread and set it in the round breadbasket.",
+    "Use the right arm to grab the golden brown bread with braided design for the smooth beige breadbasket",
+    "Drop the soft doughy bread into the medium breadbasket",
+    "Move the round bread with crusty texture to the smooth beige breadbasket using one arm.",
+    "Pick the bread with golden crust and put it into the palm-sized breadbasket.",
+    "Put the braided bread loaf into the breadbasket with flat base after grabbing it.",
+    "Pick up the soft golden bread and put it in the breadbasket for dough.",
+    "Pick up the soft doughy bread and drop it in the breadbasket for baking.",
+    "Use the right arm to grab the golden brown bread and drop it inside the breadbasket with spiral lines.",
+    "Lift the braided bread loaf and transfer to the breadbasket with flat base.",
+    "Grab the braided bread loaf with one hand and set it in the breadbasket made of woven wood.",
+    "Grab the small golden baked bread for the smooth beige breadbasket with the right arm",
+    "Grab the bread with golden crust, drop it into the breadbasket shaped like a bowl.",
+    "Pick the soft doughy bread and move it to the palm-sized breadbasket.",
+    "Grab the smooth crusty small bread with the right arm and drop it in the breadbasket for dough.",
+    "Put the golden brown bread with braided design into the breadbasket for baking using an arm.",
+    "Grab the soft doughy bread with an arm and set in the breadbasket with flat base.",
+    "Lift the small bread and set it in the spiral ridged breadbasket.",
+    "Use the right arm to grab the golden brown bread for the breadbasket with spiral lines",
+    "Drop the golden brown bread with braided design into the breadbasket made of woven wood",
+    "Move the soft doughy bread to the breadbasket with spiral lines using one arm.",
+    "Pick the round bread with braided top and put it into the breadbasket shaped like a bowl.",
+    "Put the small golden baked bread into the breadbasket with flat base after grabbing it.",
+    "Pick up the soft doughy bread and put it in the breadbasket shaped like a bowl.",
+    "Pick up the braided bread loaf and drop it in the breadbasket made of woven wood.",
+    "Use the right arm to grab the golden brown bread with braided design and drop it inside the breadbasket for baking.",
+    "Lift the soft golden bread and transfer to the breadbasket made of woven wood.",
+    "Grab the smooth crusty small bread with one hand and set it in the smooth beige breadbasket.",
+    "Grab the round bread with braided top for the wooden breadbasket with the right arm",
+    "Grab the bread with golden crust, drop it into the breadbasket shaped like a bowl.",
+    "Pick the golden bread loaf with soft inside and move it to the breadbasket for dough.",
+    "Grab the round bread with braided top with the right arm and drop it in the spiral ridged breadbasket.",
+    "Put the small golden baked bread into the breadbasket for baking using an arm.",
+    "Grab the small golden baked bread with an arm and set in the breadbasket with spiral lines.",
+    "Lift the round bread with braided top and set it in the smooth beige breadbasket.",
+    "Use the right arm to grab the soft doughy bread for the breadbasket for baking",
+    "Drop the soft doughy bread into the spiral ridged breadbasket",
+    "Move the golden bread loaf with soft inside to the breadbasket for dough using one arm.",
+    "Pick the small bread and put it into the medium breadbasket.",
+    "Put the round bread with crusty texture into the palm-sized breadbasket after grabbing it.",
+    "Pick up the smooth crusty small bread and put it in the spiral ridged breadbasket.",
+    "Pick up the smooth crusty small bread and drop it in the breadbasket with spiral lines.",
+    "Use the right arm to grab the soft doughy bread and drop it inside the breadbasket for dough.",
+    "Lift the golden bread loaf with soft inside and transfer to the breadbasket made of woven wood.",
+    "Grab the small bread with one hand and set it in the breadbasket shaped like a bowl.",
+    "Grab the braided bread loaf for the breadbasket for baking with the right arm",
+    "Grab the golden brown bread, drop it into the spiral ridged breadbasket.",
+    "Pick the smooth crusty small bread and move it to the medium breadbasket.",
+    "Grab the smooth crusty small bread with the right arm and drop it in the smooth beige breadbasket.",
+    "Put the round bread with braided top into the breadbasket for dough using an arm.",
+    "Grab the round bread with crusty texture with an arm and set in the breadbasket with flat base.",
+    "Lift the round bread with braided top and set it in the spiral ridged breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the round braided loaf, drop in the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the braided top round bread, then place it in the round beige breadbasket.",
+    "Grab the braided top round bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Pick the braided top round bread and place it in the light wooden breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the beige breadbasket",
+    "Use one arm to grab the braided top round bread, drop in the round beige breadbasket.",
+    "Place the braided top round bread into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the braided top round bread, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the beige breadbasket.",
+    "Grab the round braided loaf and drop it into the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the round beige breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and drop it in the light wooden breadbasket",
+    "Use one arm to grab the round braided loaf, drop in the round beige breadbasket.",
+    "Place the braided top round bread into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick up the braided top round bread, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and put it in the light wooden breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the round beige breadbasket.",
+    "Grab the braided top round bread with one arm, place in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the light wooden breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the light wooden breadbasket",
+    "Use one arm to grab the round braided loaf, drop in the beige breadbasket.",
+    "Place the palm-sized braided golden bread into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the round beige breadbasket.",
+    "Grab the round braided loaf and put it in the light wooden breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the light wooden breadbasket.",
+    "Grab the braided top round bread with one arm, place in the beige breadbasket.",
+    "Grab the round braided loaf and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Pick the braided top round bread and drop it in the round beige breadbasket",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Place the round braided loaf into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf, then place it in the beige breadbasket.",
+    "Grab the braided top round bread and put it in the beige breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the round beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the round beige breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and place it in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and drop it in the beige breadbasket",
+    "Use one arm to grab the round braided loaf, drop in the round beige breadbasket.",
+    "Place the braided top round bread into the light wooden breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the round beige breadbasket.",
+    "Grab the round braided loaf and put it in the beige breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the round beige breadbasket.",
+    "Grab the round braided loaf with one arm, place in the round beige breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Pick the round braided loaf and drop it in the round beige breadbasket",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Place the braided top round bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf, then place it in the round beige breadbasket.",
+    "Grab the round braided loaf and put it in the light wooden breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf with one arm, place in the light wooden breadbasket.",
+    "Grab the braided top round bread and drop it into the beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the beige breadbasket",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the beige breadbasket.",
+    "Place the palm-sized braided golden bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the light wooden breadbasket.",
+    "Grab the braided top round bread with one arm, place in the beige breadbasket.",
+    "Grab the round braided loaf and drop it into the beige breadbasket.",
+    "Pick the braided top round bread and place it in the beige breadbasket.",
+    "Grab the braided top round bread and drop it into the round beige breadbasket.",
+    "Pick the braided top round bread and drop it in the beige breadbasket",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the round beige breadbasket.",
+    "Place the palm-sized braided golden bread into the round beige breadbasket using the right arm",
+    "Use the right arm to pick up the round braided loaf, then place it in the light wooden breadbasket.",
+    "Grab the braided top round bread and put it in the beige breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the light wooden breadbasket.",
+    "Grab the round braided loaf with one arm, place in the round beige breadbasket.",
+    "Grab the braided top round bread and drop it into the light wooden breadbasket.",
+    "Pick the round braided loaf and place it in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Pick the round braided loaf and drop it in the light wooden breadbasket",
+    "Use one arm to grab the braided top round bread, drop in the light wooden breadbasket.",
+    "Place the braided top round bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the braided top round bread, then place it in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the round beige breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the round beige breadbasket.",
+    "Grab the braided top round bread with one arm, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the round beige breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the light wooden breadbasket"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode211.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use two arms and set the bread with golden surface color, the rounded square loaf in the breadbasket for dough.",
+    "Take the bread loaf with square shape and the bread with soft texture, place them inside the smooth beige breadbasket.",
+    "Move the golden crusted bread slice and the golden brown bread to the round breadbasket",
+    "Pick up both the bread loaf with square shape and the fluffy baked bread, then place them in the round breadbasket.",
+    "Simultaneously use the left arm to drop the slice-shaped bread and the medium-sized bread piece in the round breadbasket.",
+    "Pick the golden crusted bread slice and the medium bread with rounded sides and set them in the medium breadbasket.",
+    "Take the soft golden baked bread and the sponge-textured golden bread together and place them into the wooden breadbasket.",
+    "Place the bread with firm crust edges and the bread with rounded edges in the wooden breadbasket using the left arm",
+    "Use the left arm to place the brown bread loaf and the bread with soft texture into the medium breadbasket.",
+    "Pick the brown bread loaf and the sponge-textured golden bread, place them in the wooden breadbasket.",
+    "Grab the bread with rounded corners and the fluffy baked bread quickly and drop them into the round breadbasket.",
+    "Grab both the rectangular bread soft inside and the soft square bread with the left arm and place in the breadbasket for dough.",
+    "Lift the golden brown loaf-shaped bread and the medium-sized bread piece with two arms, put in the breadbasket made of woven wood.",
+    "Shift the square loaf of bread and the medium bread with rounded sides into the wooden breadbasket",
+    "Move the golden crusted bread slice and the golden baked bread at once into the wooden breadbasket.",
+    "Put the golden bread and the medium-sized bread piece into the breadbasket with spiral lines using two arms.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the rounded square loaf using the left arm, then drop them in the smooth beige breadbasket.",
+    "Shift the bread with rounded corners and the golden baked bread together to the breadbasket for baking.",
+    "Grab two breads the golden bread and the medium-sized bread piece and place in the spiral ridged breadbasket.",
+    "Take the bread with rounded corners and the square-shaped bread piece to the round breadbasket",
+    "Pick the brown bread loaf and the golden brown bread for the the breadbasket shaped like a bowl",
+    "Simultaneously grab the bread loaf with square shape and the soft square bread, drop in the breadbasket with flat base.",
+    "Grab both the bread with rounded corners and the medium bread with rounded sides, drop into the breadbasket with spiral lines.",
+    "Lift the golden brown loaf-shaped bread and the rounded square loaf at once with the left arm, then set them in the breadbasket with flat base.",
+    "Take the bread loaf with square shape and the soft square bread then place in the breadbasket made of woven wood.",
+    "Use both arms to move the rectangular bread soft inside, the medium-sized bread piece to the smooth beige breadbasket.",
+    "Use two arms and set the rectangular bread soft inside, the medium-sized bread piece in the breadbasket with flat base.",
+    "Take the brown bread loaf and the bread with soft texture, place them inside the round breadbasket.",
+    "Move the golden crusted bread slice and the light brown porous bread to the spiral ridged breadbasket",
+    "Pick up both the golden bread and the fluffy baked bread, then place them in the breadbasket shaped like a bowl.",
+    "Simultaneously use the left arm to drop the bread with rounded corners and the square-shaped bread piece in the spiral ridged breadbasket.",
+    "Pick the brown bread loaf and the sponge-textured golden bread and set them in the breadbasket for baking.",
+    "Take the bread loaf with square shape and the bread with soft texture together and place them into the breadbasket for baking.",
+    "Place the slice-shaped bread and the fluffy baked bread in the medium breadbasket using the left arm",
+    "Use the left arm to place the bread with firm crust edges and the sponge-textured golden bread into the palm-sized breadbasket.",
+    "Pick the rectangular bread soft inside and the rounded square loaf, place them in the breadbasket for dough.",
+    "Grab the slice-shaped bread and the medium-sized bread piece quickly and drop them into the breadbasket made of woven wood.",
+    "Grab both the bread loaf with square shape and the bread with soft texture with the left arm and place in the breadbasket for dough.",
+    "Lift the golden brown loaf-shaped bread and the medium-sized bread piece with two arms, put in the breadbasket for dough.",
+    "Shift the soft golden baked bread and the bread with rounded edges into the palm-sized breadbasket",
+    "Move the slice-shaped bread and the golden brown bread at once into the breadbasket with spiral lines.",
+    "Put the bread with firm crust edges and the bread with soft texture into the smooth beige breadbasket using two arms.",
+    "Simultaneously grab the golden crusted bread slice and the medium-sized bread piece using the left arm, then drop them in the wooden breadbasket.",
+    "Shift the soft golden baked bread and the light brown porous bread together to the breadbasket with flat base.",
+    "Grab two breads the bread loaf with square shape and the sponge-textured golden bread and place in the medium breadbasket.",
+    "Take the golden brown loaf-shaped bread and the medium-sized bread piece to the spiral ridged breadbasket",
+    "Pick the soft golden baked bread and the soft square bread for the the spiral ridged breadbasket",
+    "Simultaneously grab the bread loaf with square shape and the fluffy baked bread, drop in the breadbasket shaped like a bowl.",
+    "Grab both the square loaf of bread and the square-shaped bread piece, drop into the breadbasket shaped like a bowl.",
+    "Lift the bread with firm crust edges and the medium-sized bread piece at once with the left arm, then set them in the breadbasket for dough.",
+    "Take the bread with rounded corners and the golden baked bread then place in the palm-sized breadbasket.",
+    "Use both arms to move the bread loaf with square shape, the light brown porous bread to the round breadbasket.",
+    "Use two arms and set the bread with golden surface color, the golden baked bread in the smooth beige breadbasket.",
+    "Take the slice-shaped bread and the soft square bread, place them inside the breadbasket for dough.",
+    "Move the square loaf of bread and the sponge-textured golden bread to the breadbasket made of woven wood",
+    "Pick up both the slice-shaped bread and the square-shaped bread piece, then place them in the spiral ridged breadbasket.",
+    "Simultaneously use the left arm to drop the golden bread and the medium bread with rounded sides in the wooden breadbasket.",
+    "Pick the soft golden baked bread and the fluffy baked bread and set them in the spiral ridged breadbasket.",
+    "Take the soft golden baked bread and the bread with rounded edges together and place them into the breadbasket for dough.",
+    "Place the bread with rounded corners and the medium-sized bread piece in the breadbasket made of woven wood using the left arm",
+    "Use the left arm to place the bread with firm crust edges and the bread with rounded edges into the palm-sized breadbasket.",
+    "Pick the square loaf of bread and the medium bread with rounded sides, place them in the breadbasket for baking.",
+    "Grab the bread with rounded corners and the sponge-textured golden bread quickly and drop them into the breadbasket with spiral lines.",
+    "Grab both the rectangular bread soft inside and the medium bread with rounded sides with the left arm and place in the round breadbasket.",
+    "Lift the golden brown loaf-shaped bread and the square-shaped bread piece with two arms, put in the breadbasket with flat base.",
+    "Shift the brown bread loaf and the square-shaped bread piece into the medium breadbasket",
+    "Move the bread loaf with square shape and the bread with soft texture at once into the breadbasket shaped like a bowl.",
+    "Put the rectangular bread soft inside and the bread with soft texture into the wooden breadbasket using two arms.",
+    "Simultaneously grab the golden crusted bread slice and the bread with soft texture using the left arm, then drop them in the palm-sized breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the sponge-textured golden bread together to the breadbasket with spiral lines.",
+    "Grab two breads the rectangular bread soft inside and the medium-sized bread piece and place in the breadbasket for baking.",
+    "Take the bread with rounded corners and the light brown porous bread to the breadbasket with flat base",
+    "Pick the slice-shaped bread and the rounded square loaf for the the breadbasket with spiral lines",
+    "Simultaneously grab the brown bread loaf and the medium bread with rounded sides, drop in the spiral ridged breadbasket.",
+    "Grab both the slice-shaped bread and the soft square bread, drop into the breadbasket for dough.",
+    "Lift the slice-shaped bread and the fluffy baked bread at once with the left arm, then set them in the medium breadbasket.",
+    "Take the square loaf of bread and the sponge-textured golden bread then place in the breadbasket with spiral lines.",
+    "Use both arms to move the brown bread loaf, the rounded square loaf to the round breadbasket.",
+    "Use two arms and set the soft golden baked bread, the soft square bread in the smooth beige breadbasket.",
+    "Take the bread with golden surface color and the medium bread with rounded sides, place them inside the wooden breadbasket.",
+    "Move the rectangular bread soft inside and the light brown porous bread to the breadbasket made of woven wood",
+    "Pick up both the golden bread and the soft square bread, then place them in the breadbasket shaped like a bowl.",
+    "Simultaneously use the left arm to drop the bread with golden surface color and the light brown porous bread in the breadbasket with flat base.",
+    "Pick the soft golden baked bread and the medium-sized bread piece and set them in the breadbasket with spiral lines.",
+    "Take the rectangular bread soft inside and the rounded square loaf together and place them into the breadbasket for dough.",
+    "Place the bread loaf with square shape and the golden baked bread in the smooth beige breadbasket using the left arm",
+    "Use the left arm to place the slice-shaped bread and the bread with soft texture into the round breadbasket.",
+    "Pick the soft golden baked bread and the bread with rounded edges, place them in the breadbasket shaped like a bowl.",
+    "Grab the golden brown loaf-shaped bread and the sponge-textured golden bread quickly and drop them into the breadbasket for baking.",
+    "Grab both the square loaf of bread and the sponge-textured golden bread with the left arm and place in the breadbasket with flat base.",
+    "Lift the golden brown loaf-shaped bread and the bread with rounded edges with two arms, put in the round breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the sponge-textured golden bread into the breadbasket for dough",
+    "Move the bread with rounded corners and the fluffy baked bread at once into the breadbasket with flat base.",
+    "Put the bread with firm crust edges and the bread with soft texture into the breadbasket with spiral lines using two arms.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the soft square bread using the left arm, then drop them in the smooth beige breadbasket.",
+    "Shift the rectangular bread soft inside and the sponge-textured golden bread together to the smooth beige breadbasket.",
+    "Grab two breads the slice-shaped bread and the soft square bread and place in the palm-sized breadbasket.",
+    "Take the golden brown loaf-shaped bread and the rounded square loaf to the breadbasket made of woven wood",
+    "Pick the bread with golden surface color and the bread with rounded edges for the the smooth beige breadbasket",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread with rounded edges, drop in the wooden breadbasket."
+  ],
+  "unseen": [
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the square bread with light spots, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the spongy golden brown bread into the round beige breadbasket using the left arm",
+    "Pick the soft rectangular bread loaf and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the square bread with light spots and place in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread with two arms, place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop it into the round beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and put them in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the beige breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the square bread with light spots and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the square bread with light spots and place in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread with two arms, place in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop it into the round beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Place the bread loaf medium-sized and the square bread with light spots into the beige breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop it into the round beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the soft bread with golden edges, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the square bread with light spots into the light wooden breadbasket using the left arm",
+    "Pick the bread loaf medium-sized and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop it into the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the square bread with light spots, then place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and put them in the light wooden breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the round beige breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and drop them into the beige breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the soft bread with golden edges, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the square bread with light spots into the round beige breadbasket using the left arm",
+    "Pick the soft rectangular bread loaf and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the soft bread with golden edges and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the soft bread with golden edges, then place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the beige breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the spongy golden brown bread and place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread with two arms, place in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots and drop it into the beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Place the bread loaf medium-sized and the square bread with light spots into the light wooden breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the spongy golden brown bread and drop them into the light wooden breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop it into the round beige breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the square bread with light spots, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the soft rectangular bread loaf and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Place the small loaf-shaped bread and the spongy golden brown bread into the light wooden breadbasket using the left arm",
+    "Pick the soft rectangular bread loaf and the spongy golden brown bread and place them in the round beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the spongy golden brown bread and place in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Use the left arm to pick up the small loaf-shaped bread and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Place the soft rectangular bread loaf and the square bread with light spots into the beige breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the square bread with light spots and place them in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the spongy golden brown bread, drop in the beige breadbasket.",
+    "Use the left arm to pick up the bread loaf medium-sized and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the bread loaf medium-sized and the spongy golden brown bread and put them in the round beige breadbasket.",
+    "Place the bread loaf medium-sized and the spongy golden brown bread into the light wooden breadbasket using the left arm",
+    "Pick the small loaf-shaped bread and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Grab the soft rectangular bread loaf and the square bread with light spots and drop them into the round beige breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and the spongy golden brown bread and place in the round beige breadbasket.",
+    "Grab the small loaf-shaped bread and the soft bread with golden edges with two arms, place in the round beige breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode222.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the round bread with braided top and set it in the smooth textured breadbasket.",
+    "Put the soft golden bread into the beige plastic breadbasket after grabbing it.",
+    "Pick the bread with golden crust and move it to the medium oval basket for bread.",
+    "Pick up the round bread with braided top and drop it in the basket for bread beige plastic.",
+    "Lift the small golden baked bread and transfer to the smooth textured breadbasket.",
+    "Grab the round bread with braided top with one hand and set it in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the small golden baked bread for the oval perforated breadbasket white edges",
+    "Pick up the soft golden bread and put it in the oval-shaped breadbasket.",
+    "Grab the soft golden bread, drop it into the beige plastic breadbasket.",
+    "Put the small bread into the beige basket with white grid design using an arm.",
+    "Drop the small golden baked bread into the beige basket with white grid design",
+    "Pick the braided bread loaf and put it into the medium plastic breadbasket oval shape.",
+    "Grab the bread with golden crust with an arm and set in the oval perforated breadbasket white edges.",
+    "Grab the small bread for the white oval breadbasket with the right arm",
+    "Grab the small golden baked bread with the right arm and drop it in the basket for carrying bread beige.",
+    "Use the right arm to grab the round bread with crusty texture and drop it inside the beige basket with white grid design.",
+    "Move the golden brown bread to the medium breadbasket with perforated sides using one arm.",
+    "Lift the bread with golden crust and set it in the oval-shaped breadbasket.",
+    "Put the golden brown bread into the basket for carrying bread beige after grabbing it.",
+    "Pick the round bread with braided top and move it to the medium oval basket for bread.",
+    "Pick up the small bread and drop it in the basket for carrying bread beige.",
+    "Lift the golden brown bread and transfer to the basket for bread beige plastic.",
+    "Grab the round bread with crusty texture with one hand and set it in the oval-shaped breadbasket.",
+    "Use the right arm to grab the golden bread loaf with soft inside for the beige plastic breadbasket",
+    "Pick up the soft doughy bread and put it in the smooth textured breadbasket.",
+    "Grab the small golden baked bread, drop it into the medium breadbasket with perforated sides.",
+    "Put the round bread with braided top into the beige basket with white grid design using an arm.",
+    "Drop the golden bread loaf with soft inside into the basket for bread beige plastic",
+    "Pick the small bread and put it into the oval-shaped breadbasket.",
+    "Grab the bread with golden crust with an arm and set in the medium plastic breadbasket oval shape.",
+    "Grab the small golden baked bread for the beige basket with white grid design with the right arm",
+    "Grab the small bread with the right arm and drop it in the basket for carrying bread beige.",
+    "Use the right arm to grab the soft doughy bread and drop it inside the white oval breadbasket.",
+    "Move the small bread to the medium breadbasket with perforated sides using one arm.",
+    "Lift the soft doughy bread and set it in the medium plastic breadbasket oval shape.",
+    "Put the small bread into the basket for bread beige plastic after grabbing it.",
+    "Pick the soft doughy bread and move it to the basket for bread beige plastic.",
+    "Pick up the round bread with crusty texture and drop it in the medium plastic breadbasket oval shape.",
+    "Lift the round bread with crusty texture and transfer to the medium breadbasket with perforated sides.",
+    "Grab the golden brown bread with braided design with one hand and set it in the medium oval basket for bread.",
+    "Use the right arm to grab the braided bread loaf for the white oval breadbasket",
+    "Pick up the round bread with crusty texture and put it in the smooth textured breadbasket.",
+    "Grab the small bread, drop it into the basket for carrying bread beige.",
+    "Put the golden brown bread into the medium plastic breadbasket oval shape using an arm.",
+    "Drop the soft doughy bread into the beige breadbasket",
+    "Pick the small golden baked bread and put it into the oval perforated breadbasket white edges.",
+    "Grab the smooth crusty small bread with an arm and set in the beige breadbasket.",
+    "Grab the golden brown bread with braided design for the oval perforated breadbasket white edges with the right arm",
+    "Grab the round bread with crusty texture with the right arm and drop it in the basket for carrying bread beige.",
+    "Use the right arm to grab the small bread and drop it inside the oval perforated breadbasket white edges.",
+    "Move the golden brown bread to the smooth textured breadbasket using one arm.",
+    "Lift the golden brown bread and set it in the medium oval basket for bread.",
+    "Put the round bread with crusty texture into the oval-shaped breadbasket after grabbing it.",
+    "Pick the round bread with braided top and move it to the medium breadbasket with perforated sides.",
+    "Pick up the golden brown bread with braided design and drop it in the beige plastic breadbasket.",
+    "Lift the soft golden bread and transfer to the beige basket with white grid design.",
+    "Grab the small bread with one hand and set it in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the golden brown bread with braided design for the medium plastic breadbasket oval shape",
+    "Pick up the golden bread loaf with soft inside and put it in the oval perforated breadbasket white edges.",
+    "Grab the soft golden bread, drop it into the basket for carrying bread beige.",
+    "Put the round bread with braided top into the beige breadbasket using an arm.",
+    "Drop the golden bread loaf with soft inside into the oval-shaped breadbasket",
+    "Pick the small golden baked bread and put it into the oval-shaped breadbasket.",
+    "Grab the round bread with braided top with an arm and set in the basket for carrying bread beige.",
+    "Grab the golden brown bread for the basket for carrying bread beige with the right arm",
+    "Grab the golden brown bread with the right arm and drop it in the basket for carrying bread beige.",
+    "Use the right arm to grab the round bread with braided top and drop it inside the oval perforated breadbasket white edges.",
+    "Move the golden brown bread to the oval perforated breadbasket white edges using one arm.",
+    "Lift the smooth crusty small bread and set it in the medium breadbasket with perforated sides.",
+    "Put the smooth crusty small bread into the basket for bread beige plastic after grabbing it.",
+    "Pick the bread with golden crust and move it to the beige basket with white grid design.",
+    "Pick up the round bread with crusty texture and drop it in the beige plastic breadbasket.",
+    "Lift the soft doughy bread and transfer to the white oval breadbasket.",
+    "Grab the small bread with one hand and set it in the basket for bread beige plastic.",
+    "Use the right arm to grab the bread with golden crust for the beige basket with white grid design",
+    "Pick up the golden brown bread and put it in the white oval breadbasket.",
+    "Grab the golden bread loaf with soft inside, drop it into the medium breadbasket with perforated sides.",
+    "Put the golden brown bread into the beige basket with white grid design using an arm.",
+    "Drop the golden brown bread into the medium plastic breadbasket oval shape",
+    "Pick the soft golden bread and put it into the medium oval basket for bread.",
+    "Grab the braided bread loaf with an arm and set in the beige breadbasket.",
+    "Grab the small golden baked bread for the medium oval basket for bread with the right arm",
+    "Grab the soft doughy bread with the right arm and drop it in the beige basket with white grid design.",
+    "Use the right arm to grab the bread with golden crust and drop it inside the beige breadbasket.",
+    "Move the smooth crusty small bread to the beige breadbasket using one arm.",
+    "Lift the small golden baked bread and set it in the basket for carrying bread beige.",
+    "Put the golden brown bread with braided design into the white oval breadbasket after grabbing it.",
+    "Pick the small bread and move it to the basket for carrying bread beige.",
+    "Pick up the bread with golden crust and drop it in the beige plastic breadbasket.",
+    "Lift the small bread and transfer to the medium plastic breadbasket oval shape.",
+    "Grab the round bread with braided top with one hand and set it in the medium breadbasket with perforated sides.",
+    "Use the right arm to grab the soft doughy bread for the smooth textured breadbasket",
+    "Pick up the smooth crusty small bread and put it in the beige plastic breadbasket.",
+    "Grab the soft golden bread, drop it into the medium breadbasket with perforated sides.",
+    "Put the round bread with braided top into the beige basket with white grid design using an arm.",
+    "Drop the golden bread loaf with soft inside into the basket for bread beige plastic",
+    "Pick the golden brown bread with braided design and put it into the medium plastic breadbasket oval shape.",
+    "Grab the small golden baked bread with an arm and set in the beige breadbasket.",
+    "Grab the golden brown bread for the smooth textured breadbasket with the right arm",
+    "Grab the small golden baked bread with the right arm and drop it in the beige breadbasket."
+  ],
+  "unseen": [
+    "Place the braided top round bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Pick the braided top round bread and drop it in the white basket with beige bottom",
+    "Grab the round braided loaf and put it in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the round braided loaf and place it in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the braided top round bread, then place it in the breadbasket with hollowed white walls.",
+    "Place the palm-sized braided golden bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the round braided loaf and drop it in the white basket with beige bottom",
+    "Grab the round braided loaf and put it in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the braided top round bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the round braided loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the round braided loaf and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the braided top round bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Place the palm-sized braided golden bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the braided top round bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the round braided loaf and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the round braided loaf and drop it into the white basket with beige bottom.",
+    "Grab the round braided loaf with one arm, place in the white basket with beige bottom.",
+    "Grab the braided top round bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the round braided loaf and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the braided top round bread and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the braided top round bread, then place it in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Pick the palm-sized braided golden bread and drop it in the breadbasket with hollowed white walls",
+    "Grab the round braided loaf and put it in the white basket with beige bottom.",
+    "Grab the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread with one arm, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and place it in the white basket with beige bottom.",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the braided top round bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the braided top round bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Place the round braided loaf into the breadbasket with hollowed white walls using the right arm",
+    "Pick the braided top round bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the braided top round bread and put it in the white basket with beige bottom.",
+    "Grab the round braided loaf and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread with one arm, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and place it in the white basket with beige bottom.",
+    "Use one arm to grab the round braided loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the braided top round bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the braided top round bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Place the round braided loaf into the white basket with beige bottom using the right arm",
+    "Pick the braided top round bread and drop it in the white basket with beige bottom",
+    "Grab the braided top round bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and drop it into the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the round braided loaf and place it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the round braided loaf, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the round braided loaf, then place it in the breadbasket with smooth bottom grid sides.",
+    "Place the braided top round bread into the white basket with beige bottom using the right arm",
+    "Pick the palm-sized braided golden bread and drop it in the white basket with beige bottom",
+    "Grab the braided top round bread and put it in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the braided top round bread and place it in the white basket with beige bottom.",
+    "Use one arm to grab the braided top round bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the round braided loaf, then place it in the breadbasket with hollowed white walls.",
+    "Place the round braided loaf into the white basket with beige bottom using the right arm",
+    "Pick the palm-sized braided golden bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the palm-sized braided golden bread and put it in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the palm-sized braided golden bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with hollowed white walls.",
+    "Pick the palm-sized braided golden bread and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the palm-sized braided golden bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the braided top round bread, then place it in the white basket with beige bottom.",
+    "Place the round braided loaf into the breadbasket with smooth bottom grid sides using the right arm",
+    "Pick the round braided loaf and drop it in the white basket with beige bottom",
+    "Grab the braided top round bread and put it in the breadbasket with hollowed white walls.",
+    "Grab the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the palm-sized braided golden bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf and drop it into the breadbasket with hollowed white walls.",
+    "Pick the palm-sized braided golden bread and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the round braided loaf, drop in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick the round braided loaf and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the braided top round bread, then place it in the white basket with beige bottom.",
+    "Place the palm-sized braided golden bread into the white basket with beige bottom using the right arm",
+    "Pick the round braided loaf and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the braided top round bread and put it in the white basket with beige bottom.",
+    "Grab the braided top round bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the round braided loaf with one arm, place in the white basket with beige bottom.",
+    "Grab the palm-sized braided golden bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Pick the braided top round bread and place it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the braided top round bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the braided top round bread, then place it in the white basket with beige bottom."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode232.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the fluffy baked bread and transfer to the oval-shaped breadbasket.",
+    "Pick up the sponge-textured golden bread and put it in the oval-shaped breadbasket.",
+    "Grab the light brown porous bread with the left arm and drop it in the medium breadbasket with perforated sides.",
+    "Use the left arm to grab the fluffy baked bread for the medium breadbasket with perforated sides",
+    "Grab the sponge-textured golden bread with an arm and set in the basket for carrying bread beige.",
+    "Grab the square-shaped bread piece, drop it into the beige breadbasket.",
+    "Pick the soft square bread and put it into the oval perforated breadbasket white edges.",
+    "Lift the rounded square loaf and set it in the beige plastic breadbasket.",
+    "Move the fluffy baked bread to the beige plastic breadbasket using one arm.",
+    "Put the bread with soft texture into the oval perforated breadbasket white edges using an arm.",
+    "Drop the golden baked bread into the oval perforated breadbasket white edges",
+    "Pick the medium-sized bread piece and move it to the beige breadbasket.",
+    "Pick up the sponge-textured golden bread and drop it in the beige plastic breadbasket.",
+    "Grab the sponge-textured golden bread for the beige breadbasket with the left arm",
+    "Use the left arm to grab the light brown porous bread and drop it inside the beige breadbasket.",
+    "Put the golden baked bread into the medium breadbasket with perforated sides after grabbing it.",
+    "Grab the medium bread with rounded sides with one hand and set it in the medium plastic breadbasket oval shape.",
+    "Lift the soft square bread and transfer to the beige breadbasket.",
+    "Pick up the bread with rounded edges and put it in the beige breadbasket.",
+    "Grab the golden baked bread with the left arm and drop it in the basket for bread beige plastic.",
+    "Use the left arm to grab the medium bread with rounded sides for the beige plastic breadbasket",
+    "Grab the fluffy baked bread with an arm and set in the oval-shaped breadbasket.",
+    "Grab the medium bread with rounded sides, drop it into the basket for carrying bread beige.",
+    "Pick the light brown porous bread and put it into the smooth textured breadbasket.",
+    "Lift the square-shaped bread piece and set it in the smooth textured breadbasket.",
+    "Move the rounded square loaf to the beige breadbasket using one arm.",
+    "Put the bread with rounded edges into the basket for carrying bread beige using an arm.",
+    "Drop the bread with soft texture into the basket for carrying bread beige",
+    "Pick the light brown porous bread and move it to the medium breadbasket with perforated sides.",
+    "Pick up the soft square bread and drop it in the oval-shaped breadbasket.",
+    "Grab the fluffy baked bread for the beige basket with white grid design with the left arm",
+    "Use the left arm to grab the square-shaped bread piece and drop it inside the white oval breadbasket.",
+    "Put the square-shaped bread piece into the white oval breadbasket after grabbing it.",
+    "Grab the medium bread with rounded sides with one hand and set it in the beige plastic breadbasket.",
+    "Lift the square-shaped bread piece and transfer to the medium oval basket for bread.",
+    "Pick up the bread with soft texture and put it in the medium breadbasket with perforated sides.",
+    "Grab the golden baked bread with the left arm and drop it in the basket for bread beige plastic.",
+    "Use the left arm to grab the light brown porous bread for the beige basket with white grid design",
+    "Grab the sponge-textured golden bread with an arm and set in the basket for carrying bread beige.",
+    "Grab the medium-sized bread piece, drop it into the medium oval basket for bread.",
+    "Pick the medium-sized bread piece and put it into the basket for bread beige plastic.",
+    "Lift the square-shaped bread piece and set it in the white oval breadbasket.",
+    "Move the sponge-textured golden bread to the medium plastic breadbasket oval shape using one arm.",
+    "Put the rounded square loaf into the white oval breadbasket using an arm.",
+    "Drop the soft square bread into the smooth textured breadbasket",
+    "Pick the medium-sized bread piece and move it to the beige basket with white grid design.",
+    "Pick up the medium-sized bread piece and drop it in the medium breadbasket with perforated sides.",
+    "Grab the golden brown bread for the basket for bread beige plastic with the left arm",
+    "Use the left arm to grab the golden baked bread and drop it inside the basket for carrying bread beige.",
+    "Put the golden baked bread into the beige basket with white grid design after grabbing it.",
+    "Grab the golden baked bread with one hand and set it in the white oval breadbasket.",
+    "Lift the bread with rounded edges and transfer to the oval-shaped breadbasket.",
+    "Pick up the bread with rounded edges and put it in the oval-shaped breadbasket.",
+    "Grab the soft square bread with the left arm and drop it in the beige breadbasket.",
+    "Use the left arm to grab the soft square bread for the beige basket with white grid design",
+    "Grab the square-shaped bread piece with an arm and set in the oval-shaped breadbasket.",
+    "Grab the soft square bread, drop it into the white oval breadbasket.",
+    "Pick the fluffy baked bread and put it into the white oval breadbasket.",
+    "Lift the bread with soft texture and set it in the smooth textured breadbasket.",
+    "Move the square-shaped bread piece to the oval perforated breadbasket white edges using one arm.",
+    "Put the fluffy baked bread into the basket for bread beige plastic using an arm.",
+    "Drop the golden brown bread into the beige breadbasket",
+    "Pick the soft square bread and move it to the medium plastic breadbasket oval shape.",
+    "Pick up the soft square bread and drop it in the medium plastic breadbasket oval shape.",
+    "Grab the golden baked bread for the beige breadbasket with the left arm",
+    "Use the left arm to grab the medium bread with rounded sides and drop it inside the medium plastic breadbasket oval shape.",
+    "Put the golden brown bread into the beige plastic breadbasket after grabbing it.",
+    "Grab the fluffy baked bread with one hand and set it in the oval-shaped breadbasket.",
+    "Lift the sponge-textured golden bread and transfer to the white oval breadbasket.",
+    "Pick up the sponge-textured golden bread and put it in the basket for bread beige plastic.",
+    "Grab the square-shaped bread piece with the left arm and drop it in the beige plastic breadbasket.",
+    "Use the left arm to grab the medium bread with rounded sides for the basket for bread beige plastic",
+    "Grab the rounded square loaf with an arm and set in the basket for bread beige plastic.",
+    "Grab the bread with soft texture, drop it into the beige plastic breadbasket.",
+    "Pick the sponge-textured golden bread and put it into the beige basket with white grid design.",
+    "Lift the sponge-textured golden bread and set it in the basket for carrying bread beige.",
+    "Move the golden brown bread to the medium plastic breadbasket oval shape using one arm.",
+    "Put the bread with rounded edges into the basket for bread beige plastic using an arm.",
+    "Drop the golden baked bread into the beige basket with white grid design",
+    "Pick the fluffy baked bread and move it to the medium breadbasket with perforated sides.",
+    "Pick up the medium-sized bread piece and drop it in the smooth textured breadbasket.",
+    "Grab the square-shaped bread piece for the beige plastic breadbasket with the left arm",
+    "Use the left arm to grab the bread with rounded edges and drop it inside the beige basket with white grid design.",
+    "Put the medium bread with rounded sides into the medium plastic breadbasket oval shape after grabbing it.",
+    "Grab the fluffy baked bread with one hand and set it in the basket for carrying bread beige.",
+    "Lift the medium-sized bread piece and transfer to the medium oval basket for bread.",
+    "Pick up the square-shaped bread piece and put it in the medium plastic breadbasket oval shape.",
+    "Grab the medium-sized bread piece with the left arm and drop it in the white oval breadbasket.",
+    "Use the left arm to grab the light brown porous bread for the medium oval basket for bread",
+    "Grab the bread with rounded edges with an arm and set in the oval-shaped breadbasket.",
+    "Grab the golden brown bread, drop it into the white oval breadbasket.",
+    "Pick the light brown porous bread and put it into the beige basket with white grid design.",
+    "Lift the rounded square loaf and set it in the basket for carrying bread beige.",
+    "Move the square-shaped bread piece to the medium plastic breadbasket oval shape using one arm.",
+    "Put the light brown porous bread into the white oval breadbasket using an arm.",
+    "Drop the fluffy baked bread into the medium oval basket for bread",
+    "Pick the light brown porous bread and move it to the white oval breadbasket.",
+    "Pick up the golden brown bread and drop it in the smooth textured breadbasket.",
+    "Grab the soft square bread for the oval perforated breadbasket white edges with the left arm",
+    "Use the left arm to grab the golden brown bread and drop it inside the beige breadbasket."
+  ],
+  "unseen": [
+    "Pick the soft bread with golden edges and place it in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Place the spongy golden brown bread into the white basket with beige bottom using the left arm",
+    "Pick the spongy golden brown bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and place it in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and put it in the white basket with beige bottom.",
+    "Grab the square bread with light spots with one arm, place in the white basket with beige bottom.",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Place the soft bread with golden edges into the breadbasket with hollowed white walls using the left arm",
+    "Pick the square bread with light spots and drop it in the breadbasket with smooth bottom grid sides",
+    "Use one arm to grab the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the square bread with light spots and place in the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and put it in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the square bread with light spots into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the soft bread with golden edges and drop it in the white basket with beige bottom",
+    "Use one arm to grab the soft bread with golden edges, drop in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and place it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and put it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the breadbasket with hollowed white walls using the left arm",
+    "Pick the square bread with light spots and drop it in the breadbasket with smooth bottom grid sides",
+    "Use one arm to grab the square bread with light spots, drop in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and place it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and put it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Place the square bread with light spots into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with smooth bottom grid sides",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the spongy golden brown bread and place in the breadbasket with smooth bottom grid sides.",
+    "Pick the square bread with light spots and place it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Place the soft bread with golden edges into the white basket with beige bottom using the left arm",
+    "Pick the soft bread with golden edges and drop it in the white basket with beige bottom",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with hollowed white walls.",
+    "Pick the square bread with light spots and place it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and put it in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread with one arm, place in the white basket with beige bottom.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the spongy golden brown bread into the white basket with beige bottom using the left arm",
+    "Pick the square bread with light spots and drop it in the breadbasket with hollowed white walls",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with hollowed white walls.",
+    "Grab the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the square bread with light spots and place in the white basket with beige bottom.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the square bread with light spots into the white basket with beige bottom using the left arm",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with smooth bottom grid sides",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with hollowed white walls.",
+    "Pick the spongy golden brown bread and place it in the white basket with beige bottom.",
+    "Grab the square bread with light spots and put it in the white basket with beige bottom.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and drop it into the white basket with beige bottom.",
+    "Place the soft bread with golden edges into the white basket with beige bottom using the left arm",
+    "Pick the soft bread with golden edges and drop it in the white basket with beige bottom",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the soft bread with golden edges and place in the white basket with beige bottom.",
+    "Pick the square bread with light spots and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the square bread with light spots and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the spongy golden brown bread and drop it into the white basket with beige bottom.",
+    "Place the square bread with light spots into the white basket with beige bottom using the left arm",
+    "Pick the square bread with light spots and drop it in the white basket with beige bottom",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with smooth bottom grid sides.",
+    "Grab the soft bread with golden edges and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with hollowed white walls."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode250.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the sponge-textured golden bread and drop it in the synthetic material breadbasket.",
+    "Pick up the golden brown bread and put it in the smooth-textured breadbasket.",
+    "Move the bread with rounded edges to the beige basket for holding bread using one arm.",
+    "Grab the bread with rounded edges, drop it into the light brown breadbasket.",
+    "Use the left arm to grab the fluffy baked bread for the breadbasket with curved base",
+    "Lift the medium bread with rounded sides and transfer to the two-hand-sized breadbasket.",
+    "Lift the soft square bread and set it in the oval basket for bread.",
+    "Pick the bread with rounded edges and put it into the breadbasket with curved base.",
+    "Grab the light brown porous bread for the synthetic material breadbasket with the left arm",
+    "Drop the fluffy baked bread into the breadbasket for small food items",
+    "Pick the golden brown bread and move it to the light brown breadbasket.",
+    "Grab the bread with soft texture with the left arm and drop it in the breadbasket with curved base.",
+    "Use the left arm to grab the medium-sized bread piece and drop it inside the woven plastic breadbasket.",
+    "Put the fluffy baked bread into the breadbasket with curved base after grabbing it.",
+    "Grab the bread with soft texture with one hand and set it in the two-hand-sized breadbasket.",
+    "Grab the light brown porous bread with an arm and set in the beige basket for holding bread.",
+    "Put the golden brown bread into the beige basket for holding bread using an arm.",
+    "Pick up the sponge-textured golden bread and drop it in the oval basket for bread.",
+    "Pick up the medium bread with rounded sides and put it in the breadbasket with curved base.",
+    "Move the medium-sized bread piece to the breadbasket for small food items using one arm.",
+    "Grab the golden brown bread, drop it into the beige basket for holding bread.",
+    "Use the left arm to grab the rounded square loaf for the beige basket for holding bread",
+    "Lift the soft square bread and transfer to the beige basket for holding bread.",
+    "Lift the golden baked bread and set it in the beige basket for holding bread.",
+    "Pick the fluffy baked bread and put it into the breadbasket with curved base.",
+    "Grab the golden baked bread for the breadbasket with curved base with the left arm",
+    "Drop the bread with rounded edges into the medium oval breadbasket",
+    "Pick the golden brown bread and move it to the synthetic material breadbasket.",
+    "Grab the bread with rounded edges with the left arm and drop it in the two-hand-sized breadbasket.",
+    "Use the left arm to grab the rounded square loaf and drop it inside the oval basket for bread.",
+    "Put the bread with soft texture into the woven plastic breadbasket after grabbing it.",
+    "Grab the soft square bread with one hand and set it in the oval basket for bread.",
+    "Grab the fluffy baked bread with an arm and set in the medium oval breadbasket.",
+    "Put the bread with soft texture into the breadbasket for small food items using an arm.",
+    "Pick up the sponge-textured golden bread and drop it in the woven plastic breadbasket.",
+    "Pick up the medium bread with rounded sides and put it in the oval basket for bread.",
+    "Move the soft square bread to the woven plastic breadbasket using one arm.",
+    "Grab the rounded square loaf, drop it into the woven plastic breadbasket.",
+    "Use the left arm to grab the rounded square loaf for the oval breadbasket",
+    "Lift the square-shaped bread piece and transfer to the woven plastic breadbasket.",
+    "Lift the rounded square loaf and set it in the breadbasket with curved base.",
+    "Pick the golden baked bread and put it into the oval breadbasket.",
+    "Grab the bread with rounded edges for the medium oval breadbasket with the left arm",
+    "Drop the fluffy baked bread into the two-hand-sized breadbasket",
+    "Pick the square-shaped bread piece and move it to the oval basket for bread.",
+    "Grab the golden brown bread with the left arm and drop it in the woven plastic breadbasket.",
+    "Use the left arm to grab the golden baked bread and drop it inside the smooth-textured breadbasket.",
+    "Put the bread with soft texture into the light brown breadbasket after grabbing it.",
+    "Grab the light brown porous bread with one hand and set it in the breadbasket for small food items.",
+    "Grab the sponge-textured golden bread with an arm and set in the medium oval breadbasket.",
+    "Put the fluffy baked bread into the basket with light brown weaving using an arm.",
+    "Pick up the fluffy baked bread and drop it in the smooth-textured breadbasket.",
+    "Pick up the soft square bread and put it in the two-hand-sized breadbasket.",
+    "Move the fluffy baked bread to the synthetic material breadbasket using one arm.",
+    "Grab the golden brown bread, drop it into the oval breadbasket.",
+    "Use the left arm to grab the bread with soft texture for the light brown breadbasket",
+    "Lift the square-shaped bread piece and transfer to the two-hand-sized breadbasket.",
+    "Lift the light brown porous bread and set it in the oval breadbasket.",
+    "Pick the golden baked bread and put it into the smooth-textured breadbasket.",
+    "Grab the bread with soft texture for the medium oval breadbasket with the left arm",
+    "Drop the medium-sized bread piece into the smooth-textured breadbasket",
+    "Pick the sponge-textured golden bread and move it to the breadbasket with curved base.",
+    "Grab the soft square bread with the left arm and drop it in the basket with light brown weaving.",
+    "Use the left arm to grab the medium bread with rounded sides and drop it inside the oval basket for bread.",
+    "Put the golden brown bread into the beige basket for holding bread after grabbing it.",
+    "Grab the golden baked bread with one hand and set it in the two-hand-sized breadbasket.",
+    "Grab the fluffy baked bread with an arm and set in the two-hand-sized breadbasket.",
+    "Put the medium bread with rounded sides into the two-hand-sized breadbasket using an arm.",
+    "Pick up the medium bread with rounded sides and drop it in the breadbasket with curved base.",
+    "Pick up the bread with soft texture and put it in the synthetic material breadbasket.",
+    "Move the golden brown bread to the two-hand-sized breadbasket using one arm.",
+    "Grab the rounded square loaf, drop it into the breadbasket with curved base.",
+    "Use the left arm to grab the soft square bread for the two-hand-sized breadbasket",
+    "Lift the medium bread with rounded sides and transfer to the breadbasket for small food items.",
+    "Lift the sponge-textured golden bread and set it in the light brown breadbasket.",
+    "Pick the rounded square loaf and put it into the light brown breadbasket.",
+    "Grab the golden brown bread for the oval basket for bread with the left arm",
+    "Drop the medium-sized bread piece into the basket with light brown weaving",
+    "Pick the golden brown bread and move it to the smooth-textured breadbasket.",
+    "Grab the golden baked bread with the left arm and drop it in the breadbasket with curved base.",
+    "Use the left arm to grab the light brown porous bread and drop it inside the woven plastic breadbasket.",
+    "Put the medium-sized bread piece into the beige basket for holding bread after grabbing it.",
+    "Grab the light brown porous bread with one hand and set it in the oval basket for bread.",
+    "Grab the square-shaped bread piece with an arm and set in the breadbasket with curved base.",
+    "Put the medium bread with rounded sides into the woven plastic breadbasket using an arm.",
+    "Pick up the fluffy baked bread and drop it in the smooth-textured breadbasket.",
+    "Pick up the bread with rounded edges and put it in the two-hand-sized breadbasket.",
+    "Move the fluffy baked bread to the woven plastic breadbasket using one arm.",
+    "Grab the golden brown bread, drop it into the breadbasket with curved base.",
+    "Use the left arm to grab the fluffy baked bread for the light brown breadbasket",
+    "Lift the sponge-textured golden bread and transfer to the breadbasket with curved base.",
+    "Lift the bread with soft texture and set it in the breadbasket for small food items.",
+    "Pick the golden brown bread and put it into the beige basket for holding bread.",
+    "Grab the bread with rounded edges for the beige basket for holding bread with the left arm",
+    "Drop the soft square bread into the smooth-textured breadbasket",
+    "Pick the light brown porous bread and move it to the woven plastic breadbasket.",
+    "Grab the bread with rounded edges with the left arm and drop it in the light brown breadbasket.",
+    "Use the left arm to grab the bread with soft texture and drop it inside the breadbasket for small food items.",
+    "Put the soft square bread into the medium oval breadbasket after grabbing it.",
+    "Grab the bread with rounded edges with one hand and set it in the woven plastic breadbasket."
+  ],
+  "unseen": [
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the medium-sized breadbasket",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Place the square bread with light spots into the medium-sized breadbasket using the left arm",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the medium-sized breadbasket",
+    "Use the left arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and place it in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the beige breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and drop it in the medium-sized breadbasket",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread with one arm, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the beige breadbasket using the left arm",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the medium-sized breadbasket",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges with one arm, place in the beige breadbasket.",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the left arm",
+    "Grab the square bread with light spots and drop it into the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the beige breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the soft bread with golden edges and place in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the beige breadbasket.",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the left arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Use the left arm to pick up the square bread with light spots, then place it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges with one arm, place in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Use the left arm to pick the soft bread with golden edges and place in the beige breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode278.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the square-shaped bread piece with the left arm and drop it in the basket with light brown weaving.",
+    "Grab the golden brown bread for the medium oval breadbasket with the left arm",
+    "Grab the square-shaped bread piece with an arm and set in the medium oval breadbasket.",
+    "Lift the square-shaped bread piece and set it in the oval breadbasket.",
+    "Pick the square-shaped bread piece and move it to the breadbasket for small food items.",
+    "Grab the rounded square loaf with one hand and set it in the smooth-textured breadbasket.",
+    "Pick up the medium-sized bread piece and put it in the breadbasket for small food items.",
+    "Grab the sponge-textured golden bread, drop it into the beige basket for holding bread.",
+    "Move the golden brown bread to the basket with light brown weaving using one arm.",
+    "Use the left arm to grab the golden brown bread and drop it inside the oval basket for bread.",
+    "Lift the golden brown bread and transfer to the smooth-textured breadbasket.",
+    "Put the bread with soft texture into the oval basket for bread using an arm.",
+    "Use the left arm to grab the medium-sized bread piece for the oval basket for bread",
+    "Pick the fluffy baked bread and put it into the two-hand-sized breadbasket.",
+    "Drop the bread with rounded edges into the light brown breadbasket",
+    "Pick up the fluffy baked bread and drop it in the beige basket for holding bread.",
+    "Put the soft square bread into the basket with light brown weaving after grabbing it.",
+    "Grab the golden baked bread with the left arm and drop it in the woven plastic breadbasket.",
+    "Grab the medium bread with rounded sides for the breadbasket for small food items with the left arm",
+    "Grab the golden baked bread with an arm and set in the light brown breadbasket.",
+    "Lift the soft square bread and set it in the breadbasket with curved base.",
+    "Pick the rounded square loaf and move it to the woven plastic breadbasket.",
+    "Grab the bread with soft texture with one hand and set it in the breadbasket with curved base.",
+    "Pick up the golden brown bread and put it in the light brown breadbasket.",
+    "Grab the golden baked bread, drop it into the two-hand-sized breadbasket.",
+    "Move the golden brown bread to the synthetic material breadbasket using one arm.",
+    "Use the left arm to grab the bread with rounded edges and drop it inside the smooth-textured breadbasket.",
+    "Lift the medium bread with rounded sides and transfer to the beige basket for holding bread.",
+    "Put the light brown porous bread into the medium oval breadbasket using an arm.",
+    "Use the left arm to grab the medium bread with rounded sides for the two-hand-sized breadbasket",
+    "Pick the sponge-textured golden bread and put it into the light brown breadbasket.",
+    "Drop the bread with soft texture into the breadbasket with curved base",
+    "Pick up the medium bread with rounded sides and drop it in the smooth-textured breadbasket.",
+    "Put the rounded square loaf into the smooth-textured breadbasket after grabbing it.",
+    "Grab the medium bread with rounded sides with the left arm and drop it in the medium oval breadbasket.",
+    "Grab the fluffy baked bread for the smooth-textured breadbasket with the left arm",
+    "Grab the square-shaped bread piece with an arm and set in the oval basket for bread.",
+    "Lift the bread with rounded edges and set it in the woven plastic breadbasket.",
+    "Pick the soft square bread and move it to the oval basket for bread.",
+    "Grab the golden baked bread with one hand and set it in the oval breadbasket.",
+    "Pick up the light brown porous bread and put it in the two-hand-sized breadbasket.",
+    "Grab the sponge-textured golden bread, drop it into the woven plastic breadbasket.",
+    "Move the medium bread with rounded sides to the synthetic material breadbasket using one arm.",
+    "Use the left arm to grab the rounded square loaf and drop it inside the oval basket for bread.",
+    "Lift the medium-sized bread piece and transfer to the light brown breadbasket.",
+    "Put the bread with soft texture into the light brown breadbasket using an arm.",
+    "Use the left arm to grab the bread with rounded edges for the breadbasket for small food items",
+    "Pick the medium bread with rounded sides and put it into the oval basket for bread.",
+    "Drop the medium-sized bread piece into the beige basket for holding bread",
+    "Pick up the square-shaped bread piece and drop it in the oval breadbasket.",
+    "Put the bread with rounded edges into the oval basket for bread after grabbing it.",
+    "Grab the medium-sized bread piece with the left arm and drop it in the two-hand-sized breadbasket.",
+    "Grab the sponge-textured golden bread for the synthetic material breadbasket with the left arm",
+    "Grab the fluffy baked bread with an arm and set in the synthetic material breadbasket.",
+    "Lift the sponge-textured golden bread and set it in the beige basket for holding bread.",
+    "Pick the bread with rounded edges and move it to the synthetic material breadbasket.",
+    "Grab the rounded square loaf with one hand and set it in the smooth-textured breadbasket.",
+    "Pick up the square-shaped bread piece and put it in the woven plastic breadbasket.",
+    "Grab the soft square bread, drop it into the breadbasket for small food items.",
+    "Move the square-shaped bread piece to the breadbasket for small food items using one arm.",
+    "Use the left arm to grab the medium-sized bread piece and drop it inside the breadbasket for small food items.",
+    "Lift the bread with rounded edges and transfer to the oval basket for bread.",
+    "Put the golden brown bread into the oval basket for bread using an arm.",
+    "Use the left arm to grab the light brown porous bread for the two-hand-sized breadbasket",
+    "Pick the golden brown bread and put it into the basket with light brown weaving.",
+    "Drop the bread with rounded edges into the oval basket for bread",
+    "Pick up the medium-sized bread piece and drop it in the beige basket for holding bread.",
+    "Put the bread with rounded edges into the oval breadbasket after grabbing it.",
+    "Grab the square-shaped bread piece with the left arm and drop it in the breadbasket for small food items.",
+    "Grab the golden baked bread for the medium oval breadbasket with the left arm",
+    "Grab the bread with rounded edges with an arm and set in the light brown breadbasket.",
+    "Lift the golden brown bread and set it in the light brown breadbasket.",
+    "Pick the golden brown bread and move it to the woven plastic breadbasket.",
+    "Grab the soft square bread with one hand and set it in the smooth-textured breadbasket.",
+    "Pick up the square-shaped bread piece and put it in the synthetic material breadbasket.",
+    "Grab the fluffy baked bread, drop it into the smooth-textured breadbasket.",
+    "Move the sponge-textured golden bread to the medium oval breadbasket using one arm.",
+    "Use the left arm to grab the medium bread with rounded sides and drop it inside the basket with light brown weaving.",
+    "Lift the sponge-textured golden bread and transfer to the two-hand-sized breadbasket.",
+    "Put the medium bread with rounded sides into the basket with light brown weaving using an arm.",
+    "Use the left arm to grab the bread with rounded edges for the beige basket for holding bread",
+    "Pick the medium-sized bread piece and put it into the oval breadbasket.",
+    "Drop the light brown porous bread into the smooth-textured breadbasket",
+    "Pick up the fluffy baked bread and drop it in the two-hand-sized breadbasket.",
+    "Put the soft square bread into the beige basket for holding bread after grabbing it.",
+    "Grab the soft square bread with the left arm and drop it in the light brown breadbasket.",
+    "Grab the medium-sized bread piece for the breadbasket with curved base with the left arm",
+    "Grab the medium-sized bread piece with an arm and set in the smooth-textured breadbasket.",
+    "Lift the rounded square loaf and set it in the woven plastic breadbasket.",
+    "Pick the golden baked bread and move it to the basket with light brown weaving.",
+    "Grab the sponge-textured golden bread with one hand and set it in the oval breadbasket.",
+    "Pick up the square-shaped bread piece and put it in the medium oval breadbasket.",
+    "Grab the rounded square loaf, drop it into the light brown breadbasket.",
+    "Move the medium-sized bread piece to the beige basket for holding bread using one arm.",
+    "Use the left arm to grab the square-shaped bread piece and drop it inside the medium oval breadbasket.",
+    "Lift the fluffy baked bread and transfer to the breadbasket with curved base.",
+    "Put the bread with rounded edges into the oval basket for bread using an arm.",
+    "Use the left arm to grab the soft square bread for the smooth-textured breadbasket",
+    "Pick the rounded square loaf and put it into the beige basket for holding bread.",
+    "Drop the light brown porous bread into the oval breadbasket"
+  ],
+  "unseen": [
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the medium-sized breadbasket",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the square bread with light spots and drop it in the beige breadbasket",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and put it in the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and place it in the medium-sized breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the beige breadbasket using the left arm",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Use the left arm to pick the soft bread with golden edges and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the beige breadbasket.",
+    "Pick the square bread with light spots and place it in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the soft bread with golden edges, then place it in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the left arm",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Grab the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the medium-sized breadbasket",
+    "Grab the spongy golden brown bread with one arm, place in the medium-sized breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the left arm",
+    "Grab the square bread with light spots and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the square bread with light spots and drop it in the breadbasket with ridged texture",
+    "Grab the square bread with light spots with one arm, place in the medium-sized breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges, drop in the beige breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and place it in the medium-sized breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the breadbasket with ridged texture.",
+    "Place the spongy golden brown bread into the medium-sized breadbasket using the left arm",
+    "Grab the spongy golden brown bread and drop it into the medium-sized breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Grab the soft bread with golden edges with one arm, place in the beige breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Grab the spongy golden brown bread and put it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the medium-sized breadbasket.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Place the spongy golden brown bread into the breadbasket with ridged texture using the left arm",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Grab the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Use the left arm to pick the spongy golden brown bread and place in the beige breadbasket.",
+    "Use one arm to grab the square bread with light spots, drop in the breadbasket with ridged texture.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and place it in the beige breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Place the soft bread with golden edges into the breadbasket with ridged texture using the left arm",
+    "Grab the spongy golden brown bread and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Pick the soft bread with golden edges and drop it in the medium-sized breadbasket",
+    "Grab the square bread with light spots with one arm, place in the beige breadbasket.",
+    "Use the left arm to pick the square bread with light spots and place in the medium-sized breadbasket.",
+    "Use one arm to grab the spongy golden brown bread, drop in the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and put it in the breadbasket with ridged texture.",
+    "Pick the square bread with light spots and place it in the medium-sized breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the beige breadbasket.",
+    "Place the square bread with light spots into the beige breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the breadbasket with ridged texture.",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Pick the soft bread with golden edges and drop it in the breadbasket with ridged texture",
+    "Grab the soft bread with golden edges with one arm, place in the medium-sized breadbasket.",
+    "Use the left arm to pick the spongy golden brown bread and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the soft bread with golden edges, drop in the medium-sized breadbasket.",
+    "Grab the square bread with light spots and put it in the breadbasket with ridged texture.",
+    "Pick the spongy golden brown bread and place it in the breadbasket with ridged texture.",
+    "Use the left arm to pick up the square bread with light spots, then place it in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the beige breadbasket using the left arm",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket.",
+    "Grab the square bread with light spots and drop it into the medium-sized breadbasket.",
+    "Pick the spongy golden brown bread and drop it in the beige breadbasket",
+    "Grab the spongy golden brown bread with one arm, place in the breadbasket with ridged texture.",
+    "Use the left arm to pick the square bread with light spots and place in the breadbasket with ridged texture.",
+    "Use one arm to grab the square bread with light spots, drop in the beige breadbasket.",
+    "Grab the soft bread with golden edges and put it in the beige breadbasket.",
+    "Pick the spongy golden brown bread and place it in the beige breadbasket.",
+    "Use the left arm to pick up the spongy golden brown bread, then place it in the medium-sized breadbasket.",
+    "Place the square bread with light spots into the breadbasket with ridged texture using the left arm",
+    "Grab the soft bread with golden edges and drop it into the medium-sized breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode346.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bread with warm golden color and transfer to the beige plastic breadbasket.",
+    "Grab the small loaf with curved top, drop it into the medium breadbasket with perforated sides.",
+    "Drop the brown loaf into the oval-shaped breadbasket",
+    "Grab the small loaf with curved top with the left arm and drop it in the basket for bread beige plastic.",
+    "Put the brown loaf into the medium oval basket for bread using an arm.",
+    "Lift the brown loaf and set it in the medium breadbasket with perforated sides.",
+    "Use the left arm to grab the soft brown bread for the beige basket with white grid design",
+    "Move the bread with split top to the smooth textured breadbasket using one arm.",
+    "Pick the hand-sized oval loaf and move it to the beige basket with white grid design.",
+    "Put the bread with golden-brown crust into the beige plastic breadbasket after grabbing it.",
+    "Pick up the light brown bread with ridges and drop it in the beige plastic breadbasket.",
+    "Grab the small golden brown bread with one hand and set it in the white oval breadbasket.",
+    "Pick up the smooth loaf with rounded edges and put it in the oval perforated breadbasket white edges.",
+    "Pick the small golden brown bread and put it into the beige basket with white grid design.",
+    "Use the left arm to grab the hand-sized oval loaf and drop it inside the basket for carrying bread beige.",
+    "Grab the light brown loaf with smooth sides for the medium breadbasket with perforated sides with the left arm",
+    "Grab the soft brown bread with an arm and set in the basket for bread beige plastic.",
+    "Lift the bread with split top and transfer to the medium plastic breadbasket oval shape.",
+    "Grab the bread with split top, drop it into the medium breadbasket with perforated sides.",
+    "Drop the soft brown bread into the basket for carrying bread beige",
+    "Grab the small golden brown bread with the left arm and drop it in the basket for bread beige plastic.",
+    "Put the soft brown bread into the white oval breadbasket using an arm.",
+    "Lift the soft brown bread and set it in the basket for bread beige plastic.",
+    "Use the left arm to grab the hand-sized oval loaf for the beige plastic breadbasket",
+    "Move the small loaf with curved top to the basket for carrying bread beige using one arm.",
+    "Pick the small golden brown bread and move it to the basket for carrying bread beige.",
+    "Put the soft brown bread into the white oval breadbasket after grabbing it.",
+    "Pick up the bread with warm golden color and drop it in the beige breadbasket.",
+    "Grab the light brown loaf with smooth sides with one hand and set it in the beige plastic breadbasket.",
+    "Pick up the light brown bread with ridges and put it in the smooth textured breadbasket.",
+    "Pick the small golden brown bread and put it into the beige plastic breadbasket.",
+    "Use the left arm to grab the light brown bread with ridges and drop it inside the medium oval basket for bread.",
+    "Grab the bread with split top for the white oval breadbasket with the left arm",
+    "Grab the light brown bread with ridges with an arm and set in the beige breadbasket.",
+    "Lift the small loaf with curved top and transfer to the medium plastic breadbasket oval shape.",
+    "Grab the smooth loaf with rounded edges, drop it into the oval-shaped breadbasket.",
+    "Drop the small golden brown bread into the medium plastic breadbasket oval shape",
+    "Grab the small golden brown bread with the left arm and drop it in the medium plastic breadbasket oval shape.",
+    "Put the bread with warm golden color into the beige basket with white grid design using an arm.",
+    "Lift the soft brown bread and set it in the oval perforated breadbasket white edges.",
+    "Use the left arm to grab the soft brown bread for the oval-shaped breadbasket",
+    "Move the golden bread loaf to the oval-shaped breadbasket using one arm.",
+    "Pick the bread with split top and move it to the white oval breadbasket.",
+    "Put the soft brown bread into the white oval breadbasket after grabbing it.",
+    "Pick up the light brown bread with ridges and drop it in the white oval breadbasket.",
+    "Grab the bread with golden-brown crust with one hand and set it in the medium breadbasket with perforated sides.",
+    "Pick up the soft brown bread and put it in the medium oval basket for bread.",
+    "Pick the bread with warm golden color and put it into the medium plastic breadbasket oval shape.",
+    "Use the left arm to grab the smooth loaf with rounded edges and drop it inside the smooth textured breadbasket.",
+    "Grab the soft brown bread for the basket for bread beige plastic with the left arm",
+    "Grab the light brown loaf with smooth sides with an arm and set in the beige breadbasket.",
+    "Lift the light brown loaf with smooth sides and transfer to the oval perforated breadbasket white edges.",
+    "Grab the small loaf with curved top, drop it into the beige plastic breadbasket.",
+    "Drop the golden bread loaf into the smooth textured breadbasket",
+    "Grab the small loaf with curved top with the left arm and drop it in the medium breadbasket with perforated sides.",
+    "Put the bread with golden-brown crust into the basket for carrying bread beige using an arm.",
+    "Lift the bread with golden-brown crust and set it in the white oval breadbasket.",
+    "Use the left arm to grab the soft brown bread for the smooth textured breadbasket",
+    "Move the small loaf with curved top to the medium breadbasket with perforated sides using one arm.",
+    "Pick the smooth loaf with rounded edges and move it to the basket for carrying bread beige.",
+    "Put the light brown bread with ridges into the oval perforated breadbasket white edges after grabbing it.",
+    "Pick up the soft brown bread and drop it in the beige plastic breadbasket.",
+    "Grab the light brown loaf with smooth sides with one hand and set it in the medium breadbasket with perforated sides.",
+    "Pick up the soft brown bread and put it in the oval-shaped breadbasket.",
+    "Pick the smooth loaf with rounded edges and put it into the medium plastic breadbasket oval shape.",
+    "Use the left arm to grab the golden bread loaf and drop it inside the beige basket with white grid design.",
+    "Grab the small golden brown bread for the beige breadbasket with the left arm",
+    "Grab the light brown bread with ridges with an arm and set in the beige plastic breadbasket.",
+    "Lift the bread with golden-brown crust and transfer to the oval-shaped breadbasket.",
+    "Grab the brown loaf, drop it into the oval perforated breadbasket white edges.",
+    "Drop the soft brown bread into the beige basket with white grid design",
+    "Grab the brown loaf with the left arm and drop it in the white oval breadbasket.",
+    "Put the light brown bread with ridges into the oval perforated breadbasket white edges using an arm.",
+    "Lift the light brown bread with ridges and set it in the oval-shaped breadbasket.",
+    "Use the left arm to grab the small loaf with curved top for the oval-shaped breadbasket",
+    "Move the soft brown bread to the smooth textured breadbasket using one arm.",
+    "Pick the bread with golden-brown crust and move it to the smooth textured breadbasket.",
+    "Put the light brown loaf with smooth sides into the medium oval basket for bread after grabbing it.",
+    "Pick up the soft brown bread and drop it in the medium oval basket for bread.",
+    "Grab the hand-sized oval loaf with one hand and set it in the beige breadbasket.",
+    "Pick up the bread with warm golden color and put it in the beige basket with white grid design.",
+    "Pick the brown loaf and put it into the basket for carrying bread beige.",
+    "Use the left arm to grab the hand-sized oval loaf and drop it inside the beige basket with white grid design.",
+    "Grab the hand-sized oval loaf for the smooth textured breadbasket with the left arm",
+    "Grab the small loaf with curved top with an arm and set in the medium plastic breadbasket oval shape.",
+    "Lift the smooth loaf with rounded edges and transfer to the white oval breadbasket.",
+    "Grab the light brown loaf with smooth sides, drop it into the beige plastic breadbasket.",
+    "Drop the brown loaf into the medium breadbasket with perforated sides",
+    "Grab the light brown loaf with smooth sides with the left arm and drop it in the beige plastic breadbasket.",
+    "Put the bread with split top into the oval-shaped breadbasket using an arm.",
+    "Lift the bread with split top and set it in the oval perforated breadbasket white edges.",
+    "Use the left arm to grab the golden bread loaf for the basket for bread beige plastic",
+    "Move the bread with golden-brown crust to the beige basket with white grid design using one arm.",
+    "Pick the bread with split top and move it to the oval perforated breadbasket white edges.",
+    "Put the hand-sized oval loaf into the oval-shaped breadbasket after grabbing it.",
+    "Pick up the smooth loaf with rounded edges and drop it in the medium breadbasket with perforated sides.",
+    "Grab the small loaf with curved top with one hand and set it in the medium plastic breadbasket oval shape.",
+    "Pick up the bread with split top and put it in the medium plastic breadbasket oval shape.",
+    "Pick the light brown loaf with smooth sides and put it into the medium oval basket for bread.",
+    "Use the left arm to grab the light brown loaf with smooth sides and drop it inside the beige plastic breadbasket."
+  ],
+  "unseen": [
+    "Use the left arm to pick the oval bread and place in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the left arm",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Grab the oval bread with one arm, place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the oval bread, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the oval-shaped soft bread and place in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and put it in the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread, drop in the white basket with beige bottom.",
+    "Pick the oval-shaped soft bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Place the oval-shaped soft bread into the white basket with beige bottom using the left arm",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the rounded oval bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the rounded oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and put it in the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the rounded oval bread and drop it in the white basket with beige bottom",
+    "Place the rounded oval bread into the breadbasket with hollowed white walls using the left arm",
+    "Pick the oval-shaped soft bread and place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the rounded oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the oval bread and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and put it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread, drop in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Place the oval-shaped soft bread into the white basket with beige bottom using the left arm",
+    "Pick the oval bread and place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Grab the rounded oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the rounded oval bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the rounded oval bread and place in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and put it in the white basket with beige bottom.",
+    "Use one arm to grab the oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the oval-shaped soft bread and drop it in the breadbasket with hollowed white walls",
+    "Place the oval bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the oval-shaped soft bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and put it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the white basket with beige bottom.",
+    "Pick the oval-shaped soft bread and drop it in the white basket with beige bottom",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the left arm",
+    "Pick the rounded oval bread and place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the oval bread, then place it in the breadbasket with hollowed white walls.",
+    "Use the left arm to pick the oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the rounded oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the rounded oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Place the oval bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the oval-shaped soft bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the rounded oval bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and put it in the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread, drop in the breadbasket with smooth bottom grid sides.",
+    "Pick the rounded oval bread and drop it in the white basket with beige bottom",
+    "Place the oval bread into the white basket with beige bottom using the left arm",
+    "Pick the oval-shaped soft bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick up the oval-shaped soft bread, then place it in the white basket with beige bottom.",
+    "Use the left arm to pick the oval bread and place in the white basket with beige bottom.",
+    "Grab the rounded oval bread and put it in the white basket with beige bottom.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and drop it in the breadbasket with hollowed white walls",
+    "Place the rounded oval bread into the breadbasket with smooth bottom grid sides using the left arm",
+    "Pick the oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use the left arm to pick up the oval-shaped soft bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Use the left arm to pick the oval-shaped soft bread and place in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and put it in the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread, drop in the white basket with beige bottom.",
+    "Pick the oval bread and drop it in the white basket with beige bottom",
+    "Place the rounded oval bread into the white basket with beige bottom using the left arm",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and drop it into the white basket with beige bottom.",
+    "Use the left arm to pick up the oval bread, then place it in the white basket with beige bottom."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode370.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bread loaf with square shape and the golden bread loaf, place them in the smooth-textured breadbasket.",
+    "Use two arms and set the golden bread, the smooth loaf with rounded edges in the breadbasket for small food items.",
+    "Grab the bread with golden surface color and the light brown loaf with smooth sides quickly and drop them into the beige basket for holding bread.",
+    "Simultaneously use the right arm to drop the square loaf of bread and the small loaf with curved top in the basket with light brown weaving.",
+    "Lift the golden brown loaf-shaped bread and the golden bread loaf with two arms, put in the oval basket for bread.",
+    "Simultaneously grab the bread with golden surface color and the small golden brown bread using the right arm, then drop them in the oval breadbasket.",
+    "Grab two breads the brown bread loaf and the bread with split top and place in the breadbasket with curved base.",
+    "Take the golden brown loaf-shaped bread and the small loaf with curved top, place them inside the basket with light brown weaving.",
+    "Use the right arm to place the square loaf of bread and the smooth loaf with rounded edges into the oval basket for bread.",
+    "Take the rectangular bread soft inside and the smooth loaf with rounded edges to the woven plastic breadbasket",
+    "Put the golden crusted bread slice and the golden bread loaf into the basket with light brown weaving using two arms.",
+    "Move the rectangular bread soft inside and the small loaf with curved top at once into the oval breadbasket.",
+    "Simultaneously grab the brown bread loaf and the bread with warm golden color, drop in the breadbasket with curved base.",
+    "Place the square loaf of bread and the light brown loaf with smooth sides in the oval breadbasket using the right arm",
+    "Take the golden crusted bread slice and the bread with warm golden color then place in the basket with light brown weaving.",
+    "Take the golden bread and the bread with golden-brown crust together and place them into the medium oval breadbasket.",
+    "Pick up both the golden crusted bread slice and the small loaf with curved top, then place them in the breadbasket for small food items.",
+    "Pick the golden brown loaf-shaped bread and the light brown bread with ridges for the the basket with light brown weaving",
+    "Shift the soft golden baked bread and the light brown loaf with smooth sides into the breadbasket for small food items",
+    "Pick the bread loaf with square shape and the hand-sized oval loaf and set them in the woven plastic breadbasket.",
+    "Lift the rectangular bread soft inside and the light brown loaf with smooth sides at once with the right arm, then set them in the breadbasket with curved base.",
+    "Move the brown bread loaf and the golden bread loaf to the two-hand-sized breadbasket",
+    "Use both arms to move the soft golden baked bread, the soft brown bread to the medium oval breadbasket.",
+    "Shift the rectangular bread soft inside and the light brown bread with ridges together to the breadbasket for small food items.",
+    "Grab both the golden bread and the small loaf with curved top with the right arm and place in the breadbasket for small food items.",
+    "Grab both the soft golden baked bread and the hand-sized oval loaf, drop into the woven plastic breadbasket.",
+    "Pick the golden crusted bread slice and the bread with warm golden color, place them in the synthetic material breadbasket.",
+    "Use two arms and set the rectangular bread soft inside, the light brown bread with ridges in the two-hand-sized breadbasket.",
+    "Grab the golden brown loaf-shaped bread and the light brown bread with ridges quickly and drop them into the light brown breadbasket.",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the bread with split top in the smooth-textured breadbasket.",
+    "Lift the square loaf of bread and the hand-sized oval loaf with two arms, put in the breadbasket for small food items.",
+    "Simultaneously grab the bread with firm crust edges and the soft brown bread using the right arm, then drop them in the medium oval breadbasket.",
+    "Grab two breads the bread with firm crust edges and the bread with warm golden color and place in the oval basket for bread.",
+    "Take the bread with firm crust edges and the soft brown bread, place them inside the light brown breadbasket.",
+    "Use the right arm to place the slice-shaped bread and the bread with warm golden color into the oval basket for bread.",
+    "Take the bread with golden surface color and the golden bread loaf to the two-hand-sized breadbasket",
+    "Put the bread loaf with square shape and the golden bread loaf into the oval breadbasket using two arms.",
+    "Move the square loaf of bread and the golden bread loaf at once into the smooth-textured breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the light brown loaf with smooth sides, drop in the light brown breadbasket.",
+    "Place the square loaf of bread and the bread with golden-brown crust in the woven plastic breadbasket using the right arm",
+    "Take the golden crusted bread slice and the light brown loaf with smooth sides then place in the beige basket for holding bread.",
+    "Take the slice-shaped bread and the soft brown bread together and place them into the light brown breadbasket.",
+    "Pick up both the bread with firm crust edges and the golden bread loaf, then place them in the light brown breadbasket.",
+    "Pick the slice-shaped bread and the smooth loaf with rounded edges for the the breadbasket for small food items",
+    "Shift the brown bread loaf and the small loaf with curved top into the basket with light brown weaving",
+    "Pick the bread with golden surface color and the light brown loaf with smooth sides and set them in the medium oval breadbasket.",
+    "Lift the golden bread and the small golden brown bread at once with the right arm, then set them in the breadbasket for small food items.",
+    "Move the rectangular bread soft inside and the brown loaf to the breadbasket for small food items",
+    "Use both arms to move the slice-shaped bread, the light brown loaf with smooth sides to the oval basket for bread.",
+    "Shift the rectangular bread soft inside and the bread with split top together to the smooth-textured breadbasket.",
+    "Grab both the bread with golden surface color and the bread with warm golden color with the right arm and place in the oval breadbasket.",
+    "Grab both the slice-shaped bread and the bread with golden-brown crust, drop into the breadbasket with curved base.",
+    "Pick the rectangular bread soft inside and the smooth loaf with rounded edges, place them in the woven plastic breadbasket.",
+    "Use two arms and set the brown bread loaf, the light brown loaf with smooth sides in the basket with light brown weaving.",
+    "Grab the square loaf of bread and the small golden brown bread quickly and drop them into the light brown breadbasket.",
+    "Simultaneously use the right arm to drop the brown bread loaf and the small golden brown bread in the breadbasket with curved base.",
+    "Lift the slice-shaped bread and the bread with warm golden color with two arms, put in the synthetic material breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the smooth loaf with rounded edges using the right arm, then drop them in the oval basket for bread.",
+    "Grab two breads the slice-shaped bread and the light brown loaf with smooth sides and place in the light brown breadbasket.",
+    "Take the soft golden baked bread and the golden bread loaf, place them inside the smooth-textured breadbasket.",
+    "Use the right arm to place the soft golden baked bread and the golden bread loaf into the basket with light brown weaving.",
+    "Take the slice-shaped bread and the golden bread loaf to the woven plastic breadbasket",
+    "Put the bread with golden surface color and the bread with warm golden color into the oval breadbasket using two arms.",
+    "Move the bread loaf with square shape and the soft brown bread at once into the breadbasket with curved base.",
+    "Simultaneously grab the square loaf of bread and the brown loaf, drop in the breadbasket for small food items.",
+    "Place the soft golden baked bread and the hand-sized oval loaf in the light brown breadbasket using the right arm",
+    "Take the slice-shaped bread and the smooth loaf with rounded edges then place in the smooth-textured breadbasket.",
+    "Take the square loaf of bread and the bread with split top together and place them into the basket with light brown weaving.",
+    "Pick up both the bread loaf with square shape and the light brown bread with ridges, then place them in the breadbasket for small food items.",
+    "Pick the golden bread and the light brown bread with ridges for the the light brown breadbasket",
+    "Shift the brown bread loaf and the brown loaf into the light brown breadbasket",
+    "Pick the bread with golden surface color and the soft brown bread and set them in the light brown breadbasket.",
+    "Lift the bread with rounded corners and the light brown bread with ridges at once with the right arm, then set them in the light brown breadbasket.",
+    "Move the bread loaf with square shape and the soft brown bread to the basket with light brown weaving",
+    "Use both arms to move the bread loaf with square shape, the light brown loaf with smooth sides to the smooth-textured breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the small loaf with curved top together to the synthetic material breadbasket.",
+    "Grab both the slice-shaped bread and the bread with warm golden color with the right arm and place in the smooth-textured breadbasket.",
+    "Grab both the golden crusted bread slice and the smooth loaf with rounded edges, drop into the two-hand-sized breadbasket.",
+    "Pick the rectangular bread soft inside and the bread with split top, place them in the oval basket for bread.",
+    "Use two arms and set the bread with rounded corners, the bread with golden-brown crust in the medium oval breadbasket.",
+    "Grab the golden brown loaf-shaped bread and the small loaf with curved top quickly and drop them into the breadbasket for small food items.",
+    "Simultaneously use the right arm to drop the soft golden baked bread and the small golden brown bread in the synthetic material breadbasket.",
+    "Lift the slice-shaped bread and the light brown bread with ridges with two arms, put in the beige basket for holding bread.",
+    "Simultaneously grab the bread loaf with square shape and the bread with split top using the right arm, then drop them in the woven plastic breadbasket.",
+    "Grab two breads the rectangular bread soft inside and the light brown bread with ridges and place in the synthetic material breadbasket.",
+    "Take the square loaf of bread and the bread with split top, place them inside the breadbasket with curved base.",
+    "Use the right arm to place the soft golden baked bread and the brown loaf into the two-hand-sized breadbasket.",
+    "Take the rectangular bread soft inside and the bread with warm golden color to the two-hand-sized breadbasket",
+    "Put the soft golden baked bread and the bread with warm golden color into the breadbasket with curved base using two arms.",
+    "Move the square loaf of bread and the small golden brown bread at once into the smooth-textured breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread with warm golden color, drop in the woven plastic breadbasket.",
+    "Place the slice-shaped bread and the hand-sized oval loaf in the smooth-textured breadbasket using the right arm",
+    "Take the rectangular bread soft inside and the bread with golden-brown crust then place in the woven plastic breadbasket.",
+    "Take the soft golden baked bread and the soft brown bread together and place them into the oval breadbasket.",
+    "Pick up both the bread with golden surface color and the small loaf with curved top, then place them in the breadbasket with curved base.",
+    "Pick the rectangular bread soft inside and the light brown loaf with smooth sides for the the smooth-textured breadbasket",
+    "Shift the bread with rounded corners and the small loaf with curved top into the smooth-textured breadbasket",
+    "Pick the brown bread loaf and the light brown loaf with smooth sides and set them in the basket with light brown weaving.",
+    "Lift the bread with rounded corners and the bread with split top at once with the right arm, then set them in the breadbasket with curved base.",
+    "Move the bread with firm crust edges and the bread with warm golden color to the woven plastic breadbasket"
+  ],
+  "unseen": [
+    "Place the bread loaf medium-sized and the oval bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval bread, drop in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the bread loaf medium-sized and the oval-shaped soft bread and place them in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval-shaped soft bread and place in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the beige breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval bread, then place them in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval-shaped soft bread and place in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval bread and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop them into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the beige breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick up the bread loaf medium-sized and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Pick the small loaf-shaped bread and the oval-shaped soft bread and place them in the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the small loaf-shaped bread and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval bread into the beige breadbasket using the right arm",
+    "Use the right arm to pick up the small loaf-shaped bread and the oval-shaped soft bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval-shaped soft bread and place them in the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop it into the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and the rounded oval bread and place in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the medium-sized breadbasket.",
+    "Place the soft rectangular bread loaf and the oval-shaped soft bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the beige breadbasket.",
+    "Pick the small loaf-shaped bread and the rounded oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop it into the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the bread loaf medium-sized and the oval bread and place in the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop them into the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the breadbasket with ridged texture.",
+    "Place the small loaf-shaped bread and the oval bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the soft rectangular bread loaf and the oval-shaped soft bread, then place them in the breadbasket with ridged texture.",
+    "Pick the bread loaf medium-sized and the rounded oval bread and place them in the medium-sized breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the medium-sized breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the rounded oval bread with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the oval bread, drop in the beige breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the bread loaf medium-sized and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the rounded oval bread and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread and drop them into the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval bread with two arms, place in the breadbasket with ridged texture.",
+    "Use one arm to grab the bread loaf medium-sized and the rounded oval bread, drop in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the oval bread into the breadbasket with ridged texture using the right arm",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rounded oval bread, then place them in the medium-sized breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the breadbasket with ridged texture.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and drop it into the medium-sized breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the breadbasket with ridged texture.",
+    "Use the right arm to pick the soft rectangular bread loaf and the oval bread and place in the medium-sized breadbasket.",
+    "Grab the soft rectangular bread loaf and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread with two arms, place in the beige breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the oval-shaped soft bread, drop in the medium-sized breadbasket.",
+    "Place the small loaf-shaped bread and the oval-shaped soft bread into the medium-sized breadbasket using the right arm",
+    "Use the right arm to pick up the small loaf-shaped bread and the rounded oval bread, then place them in the beige breadbasket.",
+    "Pick the soft rectangular bread loaf and the oval bread and place them in the beige breadbasket.",
+    "Grab the soft rectangular bread loaf and the rounded oval bread and drop it into the beige breadbasket.",
+    "Grab the small loaf-shaped bread and the rounded oval bread and put them in the beige breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the rounded oval bread and place in the beige breadbasket.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread and drop them into the breadbasket with ridged texture.",
+    "Grab the bread loaf medium-sized and the oval-shaped soft bread with two arms, place in the medium-sized breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the oval bread, drop in the medium-sized breadbasket.",
+    "Place the bread loaf medium-sized and the rounded oval bread into the medium-sized breadbasket using the right arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode393.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the light brown bread with ridges and move it to the beige plastic breadbasket.",
+    "Pick up the light brown loaf with smooth sides and drop it in the basket for carrying bread beige.",
+    "Grab the light brown loaf with smooth sides with one hand and set it in the basket for carrying bread beige.",
+    "Drop the smooth loaf with rounded edges into the medium oval basket for bread",
+    "Move the small loaf with curved top to the smooth textured breadbasket using one arm.",
+    "Use the right arm to grab the small golden brown bread and drop it inside the oval-shaped breadbasket.",
+    "Pick the bread with golden-brown crust and put it into the oval-shaped breadbasket.",
+    "Grab the bread with golden-brown crust with an arm and set in the medium breadbasket with perforated sides.",
+    "Use the right arm to grab the smooth loaf with rounded edges for the white oval breadbasket",
+    "Pick up the bread with split top and put it in the beige breadbasket.",
+    "Grab the brown loaf for the beige breadbasket with the right arm",
+    "Put the smooth loaf with rounded edges into the oval-shaped breadbasket after grabbing it.",
+    "Grab the light brown loaf with smooth sides, drop it into the beige plastic breadbasket.",
+    "Grab the smooth loaf with rounded edges with the right arm and drop it in the medium oval basket for bread.",
+    "Put the hand-sized oval loaf into the beige basket with white grid design using an arm.",
+    "Lift the small golden brown bread and set it in the oval perforated breadbasket white edges.",
+    "Lift the bread with split top and transfer to the basket for bread beige plastic.",
+    "Pick the golden bread loaf and move it to the beige breadbasket.",
+    "Pick up the brown loaf and drop it in the basket for bread beige plastic.",
+    "Grab the soft brown bread with one hand and set it in the white oval breadbasket.",
+    "Drop the bread with split top into the beige plastic breadbasket",
+    "Move the hand-sized oval loaf to the medium plastic breadbasket oval shape using one arm.",
+    "Use the right arm to grab the small loaf with curved top and drop it inside the medium breadbasket with perforated sides.",
+    "Pick the bread with golden-brown crust and put it into the smooth textured breadbasket.",
+    "Grab the small loaf with curved top with an arm and set in the oval-shaped breadbasket.",
+    "Use the right arm to grab the smooth loaf with rounded edges for the oval perforated breadbasket white edges",
+    "Pick up the golden bread loaf and put it in the medium breadbasket with perforated sides.",
+    "Grab the small golden brown bread for the beige plastic breadbasket with the right arm",
+    "Put the brown loaf into the oval perforated breadbasket white edges after grabbing it.",
+    "Grab the hand-sized oval loaf, drop it into the beige basket with white grid design.",
+    "Grab the soft brown bread with the right arm and drop it in the oval perforated breadbasket white edges.",
+    "Put the brown loaf into the oval-shaped breadbasket using an arm.",
+    "Lift the light brown bread with ridges and set it in the beige breadbasket.",
+    "Lift the golden bread loaf and transfer to the medium oval basket for bread.",
+    "Pick the light brown loaf with smooth sides and move it to the beige plastic breadbasket.",
+    "Pick up the bread with warm golden color and drop it in the oval-shaped breadbasket.",
+    "Grab the light brown bread with ridges with one hand and set it in the beige breadbasket.",
+    "Drop the light brown bread with ridges into the beige basket with white grid design",
+    "Move the light brown bread with ridges to the basket for bread beige plastic using one arm.",
+    "Use the right arm to grab the soft brown bread and drop it inside the beige basket with white grid design.",
+    "Pick the soft brown bread and put it into the oval-shaped breadbasket.",
+    "Grab the bread with warm golden color with an arm and set in the basket for bread beige plastic.",
+    "Use the right arm to grab the light brown bread with ridges for the medium oval basket for bread",
+    "Pick up the bread with warm golden color and put it in the basket for bread beige plastic.",
+    "Grab the light brown bread with ridges for the beige plastic breadbasket with the right arm",
+    "Put the bread with split top into the oval-shaped breadbasket after grabbing it.",
+    "Grab the bread with golden-brown crust, drop it into the beige breadbasket.",
+    "Grab the small loaf with curved top with the right arm and drop it in the smooth textured breadbasket.",
+    "Put the light brown bread with ridges into the beige basket with white grid design using an arm.",
+    "Lift the light brown bread with ridges and set it in the basket for bread beige plastic.",
+    "Lift the small loaf with curved top and transfer to the basket for carrying bread beige.",
+    "Pick the smooth loaf with rounded edges and move it to the medium plastic breadbasket oval shape.",
+    "Pick up the golden bread loaf and drop it in the beige plastic breadbasket.",
+    "Grab the smooth loaf with rounded edges with one hand and set it in the beige breadbasket.",
+    "Drop the bread with golden-brown crust into the basket for carrying bread beige",
+    "Move the bread with split top to the basket for carrying bread beige using one arm.",
+    "Use the right arm to grab the small golden brown bread and drop it inside the medium breadbasket with perforated sides.",
+    "Pick the brown loaf and put it into the white oval breadbasket.",
+    "Grab the light brown loaf with smooth sides with an arm and set in the medium plastic breadbasket oval shape.",
+    "Use the right arm to grab the brown loaf for the basket for carrying bread beige",
+    "Pick up the small golden brown bread and put it in the medium breadbasket with perforated sides.",
+    "Grab the bread with split top for the oval-shaped breadbasket with the right arm",
+    "Put the golden bread loaf into the basket for bread beige plastic after grabbing it.",
+    "Grab the light brown bread with ridges, drop it into the basket for bread beige plastic.",
+    "Grab the bread with golden-brown crust with the right arm and drop it in the white oval breadbasket.",
+    "Put the bread with golden-brown crust into the beige basket with white grid design using an arm.",
+    "Lift the light brown bread with ridges and set it in the white oval breadbasket.",
+    "Lift the light brown loaf with smooth sides and transfer to the beige plastic breadbasket.",
+    "Pick the brown loaf and move it to the oval-shaped breadbasket.",
+    "Pick up the small loaf with curved top and drop it in the medium plastic breadbasket oval shape.",
+    "Grab the bread with golden-brown crust with one hand and set it in the beige plastic breadbasket.",
+    "Drop the hand-sized oval loaf into the basket for bread beige plastic",
+    "Move the bread with warm golden color to the medium oval basket for bread using one arm.",
+    "Use the right arm to grab the small loaf with curved top and drop it inside the beige plastic breadbasket.",
+    "Pick the small loaf with curved top and put it into the beige breadbasket.",
+    "Grab the light brown bread with ridges with an arm and set in the oval-shaped breadbasket.",
+    "Use the right arm to grab the light brown bread with ridges for the white oval breadbasket",
+    "Pick up the golden bread loaf and put it in the white oval breadbasket.",
+    "Grab the small loaf with curved top for the medium oval basket for bread with the right arm",
+    "Put the bread with warm golden color into the beige plastic breadbasket after grabbing it.",
+    "Grab the soft brown bread, drop it into the medium plastic breadbasket oval shape.",
+    "Grab the brown loaf with the right arm and drop it in the smooth textured breadbasket.",
+    "Put the bread with golden-brown crust into the basket for carrying bread beige using an arm.",
+    "Lift the bread with golden-brown crust and set it in the oval-shaped breadbasket.",
+    "Lift the smooth loaf with rounded edges and transfer to the white oval breadbasket.",
+    "Pick the soft brown bread and move it to the medium breadbasket with perforated sides.",
+    "Pick up the bread with golden-brown crust and drop it in the medium plastic breadbasket oval shape.",
+    "Grab the golden bread loaf with one hand and set it in the oval-shaped breadbasket.",
+    "Drop the small golden brown bread into the beige plastic breadbasket",
+    "Move the soft brown bread to the beige breadbasket using one arm.",
+    "Use the right arm to grab the light brown loaf with smooth sides and drop it inside the basket for carrying bread beige.",
+    "Pick the golden bread loaf and put it into the beige plastic breadbasket.",
+    "Grab the light brown bread with ridges with an arm and set in the oval perforated breadbasket white edges.",
+    "Use the right arm to grab the bread with golden-brown crust for the medium oval basket for bread",
+    "Pick up the bread with golden-brown crust and put it in the smooth textured breadbasket.",
+    "Grab the small golden brown bread for the oval perforated breadbasket white edges with the right arm",
+    "Put the bread with golden-brown crust into the oval perforated breadbasket white edges after grabbing it.",
+    "Grab the golden bread loaf, drop it into the beige plastic breadbasket.",
+    "Grab the bread with split top with the right arm and drop it in the oval-shaped breadbasket.",
+    "Put the smooth loaf with rounded edges into the beige plastic breadbasket using an arm."
+  ],
+  "unseen": [
+    "Pick the rounded oval bread and drop it in the white basket with beige bottom",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval bread and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Pick the rounded oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the breadbasket with hollowed white walls.",
+    "Grab the oval bread with one arm, place in the white basket with beige bottom.",
+    "Pick the rounded oval bread and place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and drop it into the breadbasket with hollowed white walls.",
+    "Place the rounded oval bread into the breadbasket with smooth bottom grid sides using the right arm",
+    "Pick the rounded oval bread and drop it in the white basket with beige bottom",
+    "Grab the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the oval bread, then place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread with one arm, place in the white basket with beige bottom.",
+    "Pick the oval bread and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Pick the oval-shaped soft bread and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and put it in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the oval bread and drop it in the white basket with beige bottom",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the rounded oval bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread with one arm, place in the white basket with beige bottom.",
+    "Pick the oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and put it in the white basket with beige bottom.",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval-shaped soft bread into the white basket with beige bottom using the right arm",
+    "Pick the rounded oval bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Use one arm to grab the oval bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval-shaped soft bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Pick the oval-shaped soft bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the oval bread and drop it in the breadbasket with hollowed white walls",
+    "Grab the rounded oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the oval bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval bread and place in the white basket with beige bottom.",
+    "Use the right arm to pick up the oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Pick the rounded oval bread and place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread and put it in the breadbasket with hollowed white walls.",
+    "Grab the oval bread and drop it into the white basket with beige bottom.",
+    "Place the oval bread into the white basket with beige bottom using the right arm",
+    "Pick the oval-shaped soft bread and drop it in the white basket with beige bottom",
+    "Grab the oval-shaped soft bread and drop it into the white basket with beige bottom.",
+    "Use one arm to grab the oval-shaped soft bread, drop in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick the oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the oval bread, then place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread with one arm, place in the white basket with beige bottom.",
+    "Pick the oval-shaped soft bread and place it in the white basket with beige bottom.",
+    "Grab the oval-shaped soft bread and put it in the breadbasket with hollowed white walls.",
+    "Grab the rounded oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval-shaped soft bread into the breadbasket with hollowed white walls using the right arm",
+    "Pick the oval bread and drop it in the white basket with beige bottom",
+    "Grab the rounded oval bread and drop it into the white basket with beige bottom.",
+    "Use one arm to grab the rounded oval bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval bread and place in the breadbasket with hollowed white walls.",
+    "Use the right arm to pick up the rounded oval bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval-shaped soft bread with one arm, place in the breadbasket with smooth bottom grid sides.",
+    "Pick the rounded oval bread and place it in the breadbasket with hollowed white walls.",
+    "Grab the oval-shaped soft bread and put it in the white basket with beige bottom.",
+    "Grab the oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread into the white basket with beige bottom using the right arm",
+    "Pick the oval-shaped soft bread and drop it in the breadbasket with smooth bottom grid sides",
+    "Grab the oval bread and drop it into the breadbasket with hollowed white walls.",
+    "Use one arm to grab the rounded oval bread, drop in the white basket with beige bottom.",
+    "Use the right arm to pick the oval bread and place in the breadbasket with smooth bottom grid sides.",
+    "Use the right arm to pick up the oval-shaped soft bread, then place it in the breadbasket with smooth bottom grid sides.",
+    "Grab the oval bread with one arm, place in the breadbasket with hollowed white walls.",
+    "Pick the oval bread and place it in the white basket with beige bottom.",
+    "Grab the rounded oval bread and put it in the breadbasket with smooth bottom grid sides.",
+    "Grab the rounded oval bread and drop it into the breadbasket with smooth bottom grid sides.",
+    "Place the oval bread into the white basket with beige bottom using the right arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode395.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the soft brown bread and the golden crusted bread slice into the oval basket for bread using two arms.",
+    "Take the bread with warm golden color and the square loaf of bread, place them inside the two-hand-sized breadbasket.",
+    "Simultaneously grab the golden bread loaf and the bread loaf with square shape using the dual arm, then drop them in the medium oval breadbasket.",
+    "Take the bread with split top and the bread with firm crust edges then place in the smooth-textured breadbasket.",
+    "Take the smooth loaf with rounded edges and the bread with golden surface color to the beige basket for holding bread",
+    "Pick up both the bread with warm golden color and the square loaf of bread, then place them in the beige basket for holding bread.",
+    "Lift the soft brown bread and the bread with golden surface color with two arms, put in the breadbasket for small food items.",
+    "Grab the bread with split top and the square loaf of bread quickly and drop them into the basket with light brown weaving.",
+    "Shift the small golden brown bread and the bread with rounded corners into the breadbasket with curved base",
+    "Pick the light brown loaf with smooth sides and the square loaf of bread, place them in the basket with light brown weaving.",
+    "Pick the bread with split top and the slice-shaped bread and set them in the two-hand-sized breadbasket.",
+    "Move the smooth loaf with rounded edges and the bread loaf with square shape at once into the breadbasket for small food items.",
+    "Use the dual arm to place the smooth loaf with rounded edges and the slice-shaped bread into the medium oval breadbasket.",
+    "Take the light brown loaf with smooth sides and the slice-shaped bread together and place them into the woven plastic breadbasket.",
+    "Move the hand-sized oval loaf and the golden brown loaf-shaped bread to the breadbasket with curved base",
+    "Use two arms and set the small golden brown bread, the golden bread in the basket with light brown weaving.",
+    "Lift the hand-sized oval loaf and the bread with rounded corners at once with the dual arm, then set them in the light brown breadbasket.",
+    "Grab both the bread with split top and the golden brown loaf-shaped bread with the dual arm and place in the smooth-textured breadbasket.",
+    "Simultaneously grab the small golden brown bread and the bread with firm crust edges, drop in the two-hand-sized breadbasket.",
+    "Grab two breads the light brown loaf with smooth sides and the soft golden baked bread and place in the medium oval breadbasket.",
+    "Use both arms to move the light brown loaf with smooth sides, the soft golden baked bread to the two-hand-sized breadbasket.",
+    "Pick the light brown loaf with smooth sides and the bread loaf with square shape for the the light brown breadbasket",
+    "Simultaneously use the dual arm to drop the smooth loaf with rounded edges and the golden crusted bread slice in the breadbasket with curved base.",
+    "Shift the soft brown bread and the bread with golden surface color together to the breadbasket for small food items.",
+    "Grab both the golden bread loaf and the brown bread loaf, drop into the breadbasket with curved base.",
+    "Place the bread with warm golden color and the golden brown loaf-shaped bread in the smooth-textured breadbasket using the dual arm",
+    "Put the golden bread loaf and the bread loaf with square shape into the synthetic material breadbasket using two arms.",
+    "Take the bread with warm golden color and the soft golden baked bread, place them inside the medium oval breadbasket.",
+    "Simultaneously grab the bread with golden-brown crust and the golden crusted bread slice using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Take the bread with golden-brown crust and the golden brown loaf-shaped bread then place in the synthetic material breadbasket.",
+    "Take the hand-sized oval loaf and the square loaf of bread to the medium oval breadbasket",
+    "Pick up both the light brown bread with ridges and the soft golden baked bread, then place them in the synthetic material breadbasket.",
+    "Lift the brown loaf and the bread with firm crust edges with two arms, put in the light brown breadbasket.",
+    "Grab the bread with golden-brown crust and the slice-shaped bread quickly and drop them into the medium oval breadbasket.",
+    "Shift the small golden brown bread and the golden bread into the medium oval breadbasket",
+    "Pick the small loaf with curved top and the slice-shaped bread, place them in the synthetic material breadbasket.",
+    "Pick the small loaf with curved top and the slice-shaped bread and set them in the basket with light brown weaving.",
+    "Move the bread with split top and the brown bread loaf at once into the oval breadbasket.",
+    "Use the dual arm to place the light brown loaf with smooth sides and the brown bread loaf into the synthetic material breadbasket.",
+    "Take the light brown bread with ridges and the rectangular bread soft inside together and place them into the woven plastic breadbasket.",
+    "Move the soft brown bread and the slice-shaped bread to the medium oval breadbasket",
+    "Use two arms and set the small golden brown bread, the square loaf of bread in the oval basket for bread.",
+    "Lift the small golden brown bread and the bread with rounded corners at once with the dual arm, then set them in the basket with light brown weaving.",
+    "Grab both the soft brown bread and the rectangular bread soft inside with the dual arm and place in the smooth-textured breadbasket.",
+    "Simultaneously grab the bread with split top and the bread loaf with square shape, drop in the basket with light brown weaving.",
+    "Grab two breads the light brown loaf with smooth sides and the golden bread and place in the breadbasket for small food items.",
+    "Use both arms to move the hand-sized oval loaf, the golden brown loaf-shaped bread to the two-hand-sized breadbasket.",
+    "Pick the bread with warm golden color and the bread loaf with square shape for the the oval breadbasket",
+    "Simultaneously use the dual arm to drop the small loaf with curved top and the brown bread loaf in the oval basket for bread.",
+    "Shift the soft brown bread and the golden crusted bread slice together to the breadbasket for small food items.",
+    "Grab both the small golden brown bread and the slice-shaped bread, drop into the smooth-textured breadbasket.",
+    "Place the light brown bread with ridges and the brown bread loaf in the breadbasket with curved base using the dual arm",
+    "Put the golden bread loaf and the golden brown loaf-shaped bread into the light brown breadbasket using two arms.",
+    "Take the small golden brown bread and the square loaf of bread, place them inside the woven plastic breadbasket.",
+    "Simultaneously grab the bread with split top and the square loaf of bread using the dual arm, then drop them in the smooth-textured breadbasket.",
+    "Take the bread with warm golden color and the bread with firm crust edges then place in the oval basket for bread.",
+    "Take the light brown loaf with smooth sides and the brown bread loaf to the medium oval breadbasket",
+    "Pick up both the smooth loaf with rounded edges and the square loaf of bread, then place them in the medium oval breadbasket.",
+    "Lift the golden bread loaf and the golden crusted bread slice with two arms, put in the oval breadbasket.",
+    "Grab the bread with warm golden color and the slice-shaped bread quickly and drop them into the breadbasket with curved base.",
+    "Shift the smooth loaf with rounded edges and the golden crusted bread slice into the synthetic material breadbasket",
+    "Pick the brown loaf and the slice-shaped bread, place them in the woven plastic breadbasket.",
+    "Pick the bread with golden-brown crust and the soft golden baked bread and set them in the beige basket for holding bread.",
+    "Move the small golden brown bread and the rectangular bread soft inside at once into the breadbasket for small food items.",
+    "Use the dual arm to place the bread with split top and the golden bread into the basket with light brown weaving.",
+    "Take the golden bread loaf and the bread with firm crust edges together and place them into the breadbasket with curved base.",
+    "Move the soft brown bread and the bread with firm crust edges to the breadbasket for small food items",
+    "Use two arms and set the light brown loaf with smooth sides, the rectangular bread soft inside in the light brown breadbasket.",
+    "Lift the bread with warm golden color and the golden crusted bread slice at once with the dual arm, then set them in the woven plastic breadbasket.",
+    "Grab both the smooth loaf with rounded edges and the bread loaf with square shape with the dual arm and place in the two-hand-sized breadbasket.",
+    "Simultaneously grab the light brown bread with ridges and the bread with firm crust edges, drop in the oval breadbasket.",
+    "Grab two breads the bread with warm golden color and the bread with firm crust edges and place in the breadbasket with curved base.",
+    "Use both arms to move the golden bread loaf, the square loaf of bread to the smooth-textured breadbasket.",
+    "Pick the hand-sized oval loaf and the slice-shaped bread for the the two-hand-sized breadbasket",
+    "Simultaneously use the dual arm to drop the small golden brown bread and the bread with golden surface color in the basket with light brown weaving.",
+    "Shift the light brown loaf with smooth sides and the bread with firm crust edges together to the two-hand-sized breadbasket.",
+    "Grab both the light brown loaf with smooth sides and the bread with rounded corners, drop into the breadbasket with curved base.",
+    "Place the golden bread loaf and the bread loaf with square shape in the light brown breadbasket using the dual arm",
+    "Put the golden bread loaf and the golden bread into the smooth-textured breadbasket using two arms.",
+    "Take the small loaf with curved top and the bread with firm crust edges, place them inside the beige basket for holding bread.",
+    "Simultaneously grab the small loaf with curved top and the slice-shaped bread using the dual arm, then drop them in the breadbasket with curved base.",
+    "Take the soft brown bread and the rectangular bread soft inside then place in the light brown breadbasket.",
+    "Take the golden bread loaf and the bread with golden surface color to the medium oval breadbasket",
+    "Pick up both the bread with warm golden color and the golden crusted bread slice, then place them in the oval basket for bread.",
+    "Lift the hand-sized oval loaf and the rectangular bread soft inside with two arms, put in the woven plastic breadbasket.",
+    "Grab the smooth loaf with rounded edges and the golden bread quickly and drop them into the breadbasket for small food items.",
+    "Shift the bread with warm golden color and the bread with rounded corners into the beige basket for holding bread",
+    "Pick the soft brown bread and the bread loaf with square shape, place them in the medium oval breadbasket.",
+    "Pick the golden bread loaf and the bread with rounded corners and set them in the basket with light brown weaving.",
+    "Move the bread with split top and the square loaf of bread at once into the beige basket for holding bread.",
+    "Use the dual arm to place the bread with warm golden color and the slice-shaped bread into the light brown breadbasket.",
+    "Take the soft brown bread and the bread loaf with square shape together and place them into the two-hand-sized breadbasket.",
+    "Move the small golden brown bread and the bread with firm crust edges to the oval basket for bread",
+    "Use two arms and set the small golden brown bread, the bread with golden surface color in the woven plastic breadbasket.",
+    "Lift the soft brown bread and the brown bread loaf at once with the dual arm, then set them in the woven plastic breadbasket.",
+    "Grab both the soft brown bread and the bread with firm crust edges with the dual arm and place in the oval basket for bread.",
+    "Simultaneously grab the light brown loaf with smooth sides and the brown bread loaf, drop in the breadbasket with curved base.",
+    "Grab two breads the bread with split top and the brown bread loaf and place in the breadbasket for small food items.",
+    "Use both arms to move the light brown bread with ridges, the slice-shaped bread to the breadbasket for small food items.",
+    "Pick the small loaf with curved top and the brown bread loaf for the the smooth-textured breadbasket"
+  ],
+  "unseen": [
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft rectangular bread loaf, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval bread and the soft rectangular bread loaf and place them in the beige breadbasket.",
+    "Use one arm to grab the oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the rounded oval bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop it into the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval bread and the small loaf-shaped bread, drop in the beige breadbasket.",
+    "Place the rounded oval bread and the soft rectangular bread loaf into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the small loaf-shaped bread and place in the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the beige breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Place the rounded oval bread and the bread loaf medium-sized into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the bread loaf medium-sized, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop it into the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and drop them into the beige breadbasket.",
+    "Grab the oval bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the beige breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Place the oval bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the small loaf-shaped bread, then place them in the medium-sized breadbasket.",
+    "Use the dual arm to pick the rounded oval bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Place the oval bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop it into the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval bread and the bread loaf medium-sized and drop them into the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the bread loaf medium-sized, drop in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the beige breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the small loaf-shaped bread, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the oval bread and the soft rectangular bread loaf and drop it into the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the oval-shaped soft bread and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Place the oval-shaped soft bread and the small loaf-shaped bread into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the small loaf-shaped bread and place in the beige breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the medium-sized breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread with two arms, place in the beige breadbasket.",
+    "Pick the oval-shaped soft bread and the soft rectangular bread loaf and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the oval-shaped soft bread and the small loaf-shaped bread, drop in the breadbasket with ridged texture.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the bread loaf medium-sized, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval-shaped soft bread and the bread loaf medium-sized and place in the beige breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized and drop it into the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the soft rectangular bread loaf and put them in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the soft rectangular bread loaf and drop them into the medium-sized breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf with two arms, place in the breadbasket with ridged texture.",
+    "Pick the oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the breadbasket with ridged texture using the dual arm",
+    "Use the dual arm to pick up the oval-shaped soft bread and the bread loaf medium-sized, then place them in the beige breadbasket.",
+    "Use the dual arm to pick the oval bread and the bread loaf medium-sized and place in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the small loaf-shaped bread and drop it into the beige breadbasket.",
+    "Grab the oval bread and the soft rectangular bread loaf and put them in the medium-sized breadbasket.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop them into the medium-sized breadbasket.",
+    "Grab the oval-shaped soft bread and the bread loaf medium-sized with two arms, place in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the bread loaf medium-sized and place them in the medium-sized breadbasket.",
+    "Use one arm to grab the rounded oval bread and the bread loaf medium-sized, drop in the medium-sized breadbasket.",
+    "Place the oval-shaped soft bread and the bread loaf medium-sized into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick up the oval bread and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture.",
+    "Use the dual arm to pick the oval bread and the soft rectangular bread loaf and place in the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the bread loaf medium-sized and drop it into the beige breadbasket.",
+    "Grab the oval bread and the small loaf-shaped bread and put them in the breadbasket with ridged texture.",
+    "Grab the oval-shaped soft bread and the small loaf-shaped bread and drop them into the breadbasket with ridged texture.",
+    "Grab the rounded oval bread and the small loaf-shaped bread with two arms, place in the medium-sized breadbasket.",
+    "Pick the rounded oval bread and the small loaf-shaped bread and place them in the breadbasket with ridged texture.",
+    "Use one arm to grab the rounded oval bread and the soft rectangular bread loaf, drop in the beige breadbasket.",
+    "Place the oval bread and the soft rectangular bread loaf into the medium-sized breadbasket using the dual arm",
+    "Use the dual arm to pick up the rounded oval bread and the soft rectangular bread loaf, then place them in the breadbasket with ridged texture."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode43.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the golden bread, drop it into the plastic mesh breadbasket.",
+    "Grab the golden bread with an arm and set in the medium rectangular breadbasket.",
+    "Put the bread loaf with bumpy surface into the medium rectangular breadbasket using an arm.",
+    "Move the hand-sized bread block to the medium rectangular breadbasket using one arm.",
+    "Pick the bread block with light patches and put it into the woven light beige breadbasket.",
+    "Grab the bread with rough texture with one hand and set it in the breadbasket with textured sides.",
+    "Grab the cuboid bread with the right arm and drop it in the light and textured breadbasket.",
+    "Pick the bread loaf with bumpy surface and move it to the light beige rectangular breadbasket.",
+    "Drop the golden bread into the beige breadbasket",
+    "Put the golden bread loaf into the beige breadbasket for holding bread after grabbing it.",
+    "Use the right arm to grab the bread loaf with uneven edges and drop it inside the light beige rectangular breadbasket.",
+    "Pick up the bread block with light patches and drop it in the light beige rectangular breadbasket.",
+    "Pick up the cuboid bread and put it in the breadbasket with textured sides.",
+    "Grab the hand-sized bread block for the breadbasket for bread storage with the right arm",
+    "Lift the square-shaped bread and transfer to the beige breadbasket.",
+    "Lift the bread with rough texture and set it in the beige breadbasket for holding bread.",
+    "Use the right arm to grab the light golden brown bread for the beige breadbasket",
+    "Grab the bread loaf with uneven edges, drop it into the woven light beige breadbasket.",
+    "Grab the hand-sized bread block with an arm and set in the beige breadbasket.",
+    "Put the light golden brown bread into the medium rectangular breadbasket using an arm.",
+    "Move the square-shaped bread to the light and textured breadbasket using one arm.",
+    "Pick the golden bread and put it into the textured beige breadbasket.",
+    "Grab the cuboid bread with one hand and set it in the plastic mesh breadbasket.",
+    "Grab the soft bread with the right arm and drop it in the breadbasket for bread storage.",
+    "Pick the bread block with light patches and move it to the textured beige breadbasket.",
+    "Drop the soft bread into the beige breadbasket",
+    "Put the bread with rough texture into the rectangular breadbasket after grabbing it.",
+    "Use the right arm to grab the golden bread and drop it inside the breadbasket with textured sides.",
+    "Pick up the golden bread loaf and drop it in the woven light beige breadbasket.",
+    "Pick up the hand-sized bread block and put it in the textured beige breadbasket.",
+    "Grab the bread loaf with bumpy surface for the medium rectangular breadbasket with the right arm",
+    "Lift the hand-sized bread block and transfer to the light beige rectangular breadbasket.",
+    "Lift the soft bread and set it in the rectangular breadbasket.",
+    "Use the right arm to grab the golden bread for the beige breadbasket",
+    "Grab the square-shaped bread, drop it into the plastic mesh breadbasket.",
+    "Grab the bread loaf with uneven edges with an arm and set in the plastic breadbasket with mesh sides.",
+    "Put the bread with rough texture into the breadbasket for bread storage using an arm.",
+    "Move the golden bread to the rectangular breadbasket using one arm.",
+    "Pick the golden bread and put it into the medium rectangular breadbasket.",
+    "Grab the bread block with light patches with one hand and set it in the beige breadbasket.",
+    "Grab the bread loaf with bumpy surface with the right arm and drop it in the woven light beige breadbasket.",
+    "Pick the bread loaf with uneven edges and move it to the woven light beige breadbasket.",
+    "Drop the doughy and soft bread into the rectangular breadbasket",
+    "Put the square-shaped bread into the breadbasket for bread storage after grabbing it.",
+    "Use the right arm to grab the doughy and soft bread and drop it inside the woven light beige breadbasket.",
+    "Pick up the bread loaf with uneven edges and drop it in the light and textured breadbasket.",
+    "Pick up the light golden brown bread and put it in the breadbasket for bread storage.",
+    "Grab the bread block with light patches for the breadbasket with textured sides with the right arm",
+    "Lift the bread loaf with bumpy surface and transfer to the beige breadbasket.",
+    "Lift the soft bread and set it in the breadbasket for bread storage.",
+    "Use the right arm to grab the hand-sized bread block for the plastic breadbasket with mesh sides",
+    "Grab the golden bread loaf, drop it into the breadbasket with textured sides.",
+    "Grab the bread with rough texture with an arm and set in the light and textured breadbasket.",
+    "Put the bread with rough texture into the medium rectangular breadbasket using an arm.",
+    "Move the doughy and soft bread to the light and textured breadbasket using one arm.",
+    "Pick the light golden brown bread and put it into the light beige rectangular breadbasket.",
+    "Grab the cuboid bread with one hand and set it in the breadbasket with textured sides.",
+    "Grab the doughy and soft bread with the right arm and drop it in the breadbasket for bread storage.",
+    "Pick the bread block with light patches and move it to the beige breadbasket.",
+    "Drop the golden bread loaf into the woven light beige breadbasket",
+    "Put the bread loaf with uneven edges into the beige breadbasket after grabbing it.",
+    "Use the right arm to grab the golden bread and drop it inside the breadbasket for bread storage.",
+    "Pick up the cuboid bread and drop it in the woven light beige breadbasket.",
+    "Pick up the doughy and soft bread and put it in the beige breadbasket.",
+    "Grab the cuboid bread for the light beige rectangular breadbasket with the right arm",
+    "Lift the hand-sized bread block and transfer to the light beige rectangular breadbasket.",
+    "Lift the light golden brown bread and set it in the medium rectangular breadbasket.",
+    "Use the right arm to grab the golden bread loaf for the plastic mesh breadbasket",
+    "Grab the cuboid bread, drop it into the plastic mesh breadbasket.",
+    "Grab the bread with rough texture with an arm and set in the beige breadbasket for holding bread.",
+    "Put the bread block with light patches into the beige breadbasket for holding bread using an arm.",
+    "Move the hand-sized bread block to the plastic breadbasket with mesh sides using one arm.",
+    "Pick the square-shaped bread and put it into the light beige rectangular breadbasket.",
+    "Grab the square-shaped bread with one hand and set it in the breadbasket with textured sides.",
+    "Grab the hand-sized bread block with the right arm and drop it in the plastic breadbasket with mesh sides.",
+    "Pick the bread loaf with bumpy surface and move it to the light and textured breadbasket.",
+    "Drop the square-shaped bread into the light beige rectangular breadbasket",
+    "Put the bread loaf with uneven edges into the beige breadbasket for holding bread after grabbing it.",
+    "Use the right arm to grab the square-shaped bread and drop it inside the rectangular breadbasket.",
+    "Pick up the hand-sized bread block and drop it in the breadbasket for bread storage.",
+    "Pick up the light golden brown bread and put it in the plastic breadbasket with mesh sides.",
+    "Grab the bread loaf with uneven edges for the breadbasket for bread storage with the right arm",
+    "Lift the cuboid bread and transfer to the light and textured breadbasket.",
+    "Lift the soft bread and set it in the textured beige breadbasket.",
+    "Use the right arm to grab the square-shaped bread for the medium rectangular breadbasket",
+    "Grab the doughy and soft bread, drop it into the plastic breadbasket with mesh sides.",
+    "Grab the bread with rough texture with an arm and set in the light beige rectangular breadbasket.",
+    "Put the bread loaf with uneven edges into the beige breadbasket for holding bread using an arm.",
+    "Move the square-shaped bread to the rectangular breadbasket using one arm.",
+    "Pick the square-shaped bread and put it into the breadbasket with textured sides.",
+    "Grab the soft bread with one hand and set it in the breadbasket with textured sides.",
+    "Grab the golden bread with the right arm and drop it in the textured beige breadbasket.",
+    "Pick the golden bread loaf and move it to the light and textured breadbasket.",
+    "Drop the bread with rough texture into the plastic breadbasket with mesh sides",
+    "Put the cuboid bread into the beige breadbasket after grabbing it.",
+    "Use the right arm to grab the bread with rough texture and drop it inside the plastic breadbasket with mesh sides.",
+    "Pick up the hand-sized bread block and drop it in the woven light beige breadbasket.",
+    "Pick up the bread loaf with uneven edges and put it in the plastic breadbasket with mesh sides.",
+    "Grab the hand-sized bread block for the woven light beige breadbasket with the right arm",
+    "Lift the doughy and soft bread and transfer to the rectangular breadbasket."
+  ],
+  "unseen": [
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and drop it in the shallow rectangular breadbasket",
+    "Pick the rectangular bread loaf and place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and put it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and drop it in the woven shallow breadbasket",
+    "Pick the rectangular bread loaf and place it in the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and put it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with woven pattern",
+    "Pick the bread loaf with soft surface and place it in the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the woven shallow breadbasket.",
+    "Place the bread with golden crust into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and put it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the shallow rectangular breadbasket",
+    "Pick the bread with golden crust and place it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust with one arm, place in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and put it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and drop it in the woven shallow breadbasket",
+    "Pick the bread loaf with soft surface and place it in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface with one arm, place in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread loaf with soft surface and drop it into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and put it in the woven shallow breadbasket.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and drop it in the breadbasket with woven pattern",
+    "Pick the bread with golden crust and place it in the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the shallow rectangular breadbasket.",
+    "Place the rectangular bread loaf into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and drop it into the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and put it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the shallow rectangular breadbasket",
+    "Pick the rectangular bread loaf and place it in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface into the breadbasket with woven pattern using the right arm",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and put it in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and drop it in the shallow rectangular breadbasket",
+    "Pick the bread with golden crust and place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf with one arm, place in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust into the breadbasket with woven pattern using the right arm",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Use the right arm to pick up the bread loaf with soft surface, then place it in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and put it in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and drop it in the woven shallow breadbasket",
+    "Pick the bread loaf with soft surface and place it in the breadbasket with woven pattern.",
+    "Use one arm to grab the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface with one arm, place in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the right arm to pick up the rectangular bread loaf, then place it in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and put it in the woven shallow breadbasket.",
+    "Use the right arm to pick the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Pick the rectangular bread loaf and drop it in the breadbasket with woven pattern",
+    "Pick the bread loaf with soft surface and place it in the shallow rectangular breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode437.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the soft doughy bread and transfer to the light brown basket for bread.",
+    "Pick the soft doughy bread and put it into the brown breadbasket with rounded corners.",
+    "Pick the small bread and move it to the light brown wicker breadbasket.",
+    "Lift the soft doughy bread and set it in the breadbasket for holding bread.",
+    "Use the right arm to grab the round bread with braided top and drop it inside the medium-sized rectangular breadbasket.",
+    "Grab the bread with golden crust with an arm and set in the brown breadbasket.",
+    "Grab the small bread with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the round bread with braided top for the smooth textured brown breadbasket",
+    "Grab the soft doughy bread with the right arm and drop it in the brown breadbasket with rounded corners.",
+    "Move the golden brown bread with braided design to the brown breadbasket with rounded corners using one arm.",
+    "Grab the golden brown bread, drop it into the brown breadbasket.",
+    "Drop the soft golden bread into the breadbasket for holding bread",
+    "Pick up the golden brown bread and drop it in the light brown basket for bread.",
+    "Grab the round bread with crusty texture for the brown breadbasket with the right arm",
+    "Put the round bread with crusty texture into the woven rectangular breadbasket after grabbing it.",
+    "Put the golden brown bread with braided design into the smooth textured brown breadbasket using an arm.",
+    "Pick up the soft golden bread and put it in the breadbasket with wicker weave pattern.",
+    "Lift the golden brown bread and transfer to the woven rectangular breadbasket.",
+    "Pick the round bread with braided top and put it into the breadbasket for holding bread.",
+    "Pick the soft doughy bread and move it to the breadbasket with smooth woven texture.",
+    "Lift the braided bread loaf and set it in the breadbasket with smooth woven texture.",
+    "Use the right arm to grab the small bread and drop it inside the light brown wicker breadbasket.",
+    "Grab the golden brown bread with an arm and set in the breadbasket with wicker weave pattern.",
+    "Grab the soft golden bread with one hand and set it in the light brown basket for bread.",
+    "Use the right arm to grab the smooth crusty small bread for the breadbasket with smooth woven texture",
+    "Grab the round bread with crusty texture with the right arm and drop it in the brown breadbasket.",
+    "Move the soft doughy bread to the breadbasket with wicker weave pattern using one arm.",
+    "Grab the bread with golden crust, drop it into the breadbasket with wicker weave pattern.",
+    "Drop the soft golden bread into the light brown basket for bread",
+    "Pick up the bread with golden crust and drop it in the medium-sized rectangular breadbasket.",
+    "Grab the small bread for the light brown basket for bread with the right arm",
+    "Put the soft doughy bread into the light brown basket for bread after grabbing it.",
+    "Put the golden brown bread with braided design into the medium-sized rectangular breadbasket using an arm.",
+    "Pick up the soft doughy bread and put it in the brown breadbasket.",
+    "Lift the round bread with crusty texture and transfer to the brown breadbasket.",
+    "Pick the smooth crusty small bread and put it into the light brown wicker breadbasket.",
+    "Pick the braided bread loaf and move it to the brown breadbasket with rounded corners.",
+    "Lift the golden brown bread and set it in the medium woven breadbasket.",
+    "Use the right arm to grab the round bread with braided top and drop it inside the breadbasket for holding bread.",
+    "Grab the soft golden bread with an arm and set in the breadbasket with smooth woven texture.",
+    "Grab the round bread with crusty texture with one hand and set it in the breadbasket for holding bread.",
+    "Use the right arm to grab the golden brown bread with braided design for the smooth textured brown breadbasket",
+    "Grab the round bread with braided top with the right arm and drop it in the smooth textured brown breadbasket.",
+    "Move the small bread to the woven rectangular breadbasket using one arm.",
+    "Grab the braided bread loaf, drop it into the smooth textured brown breadbasket.",
+    "Drop the golden brown bread with braided design into the breadbasket for holding bread",
+    "Pick up the braided bread loaf and drop it in the breadbasket with smooth woven texture.",
+    "Grab the golden brown bread for the breadbasket for holding bread with the right arm",
+    "Put the golden brown bread into the brown breadbasket after grabbing it.",
+    "Put the small bread into the light brown basket for bread using an arm.",
+    "Pick up the soft doughy bread and put it in the smooth textured brown breadbasket.",
+    "Lift the small bread and transfer to the breadbasket with rounded edges.",
+    "Pick the soft doughy bread and put it into the light brown basket for bread.",
+    "Pick the round bread with braided top and move it to the medium-sized rectangular breadbasket.",
+    "Lift the golden brown bread with braided design and set it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the golden brown bread and drop it inside the medium woven breadbasket.",
+    "Grab the bread with golden crust with an arm and set in the light brown wicker breadbasket.",
+    "Grab the golden brown bread with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the golden brown bread for the breadbasket with smooth woven texture",
+    "Grab the braided bread loaf with the right arm and drop it in the light brown wicker breadbasket.",
+    "Move the golden brown bread to the breadbasket with rounded edges using one arm.",
+    "Grab the soft doughy bread, drop it into the light brown basket for bread.",
+    "Drop the small bread into the woven rectangular breadbasket",
+    "Pick up the golden bread loaf with soft inside and drop it in the breadbasket for holding bread.",
+    "Grab the small golden baked bread for the medium woven breadbasket with the right arm",
+    "Put the golden bread loaf with soft inside into the brown breadbasket after grabbing it.",
+    "Put the small golden baked bread into the medium-sized rectangular breadbasket using an arm.",
+    "Pick up the smooth crusty small bread and put it in the brown breadbasket.",
+    "Lift the round bread with crusty texture and transfer to the light brown basket for bread.",
+    "Pick the braided bread loaf and put it into the breadbasket with rounded edges.",
+    "Pick the round bread with crusty texture and move it to the woven rectangular breadbasket.",
+    "Lift the small golden baked bread and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the golden brown bread and drop it inside the breadbasket for holding bread.",
+    "Grab the golden brown bread with an arm and set in the light brown basket for bread.",
+    "Grab the round bread with crusty texture with one hand and set it in the breadbasket with wicker weave pattern.",
+    "Use the right arm to grab the bread with golden crust for the light brown wicker breadbasket",
+    "Grab the golden brown bread with braided design with the right arm and drop it in the brown breadbasket with rounded corners.",
+    "Move the golden bread loaf with soft inside to the smooth textured brown breadbasket using one arm.",
+    "Grab the bread with golden crust, drop it into the breadbasket with wicker weave pattern.",
+    "Drop the round bread with braided top into the breadbasket with rounded edges",
+    "Pick up the golden brown bread and drop it in the breadbasket with wicker weave pattern.",
+    "Grab the small golden baked bread for the light brown wicker breadbasket with the right arm",
+    "Put the small golden baked bread into the breadbasket with rounded edges after grabbing it.",
+    "Put the braided bread loaf into the woven rectangular breadbasket using an arm.",
+    "Pick up the smooth crusty small bread and put it in the breadbasket with smooth woven texture.",
+    "Lift the round bread with crusty texture and transfer to the medium-sized rectangular breadbasket.",
+    "Pick the smooth crusty small bread and put it into the smooth textured brown breadbasket.",
+    "Pick the golden brown bread and move it to the medium-sized rectangular breadbasket.",
+    "Lift the soft golden bread and set it in the woven rectangular breadbasket.",
+    "Use the right arm to grab the smooth crusty small bread and drop it inside the breadbasket with smooth woven texture.",
+    "Grab the golden bread loaf with soft inside with an arm and set in the breadbasket with smooth woven texture.",
+    "Grab the round bread with crusty texture with one hand and set it in the light brown basket for bread.",
+    "Use the right arm to grab the braided bread loaf for the light brown wicker breadbasket",
+    "Grab the bread with golden crust with the right arm and drop it in the woven rectangular breadbasket.",
+    "Move the smooth crusty small bread to the breadbasket with wicker weave pattern using one arm.",
+    "Grab the golden bread loaf with soft inside, drop it into the breadbasket with smooth woven texture.",
+    "Drop the small bread into the breadbasket for holding bread",
+    "Pick up the round bread with crusty texture and drop it in the woven rectangular breadbasket.",
+    "Grab the soft golden bread for the medium woven breadbasket with the right arm",
+    "Put the soft doughy bread into the medium woven breadbasket after grabbing it."
+  ],
+  "unseen": [
+    "Grab the braided top round bread with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the medium light brown breadbasket.",
+    "Pick the round braided loaf and drop it in the rectangular light brown breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the rectangular breadbasket.",
+    "Pick the braided top round bread and place it in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the medium light brown breadbasket.",
+    "Place the palm-sized braided golden bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the medium light brown breadbasket.",
+    "Grab the round braided loaf and drop it into the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and drop it in the rectangular light brown breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the rectangular breadbasket.",
+    "Pick the round braided loaf and place it in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Place the round braided loaf into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the medium light brown breadbasket.",
+    "Grab the braided top round bread with one arm, place in the rectangular breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and drop it in the medium light brown breadbasket",
+    "Use the right arm to pick up the round braided loaf, then place it in the rectangular breadbasket.",
+    "Pick the round braided loaf and place it in the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and drop it into the rectangular breadbasket.",
+    "Place the round braided loaf into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and put it in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the rectangular breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the rectangular breadbasket.",
+    "Pick the round braided loaf and place it in the medium light brown breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Place the round braided loaf into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and put it in the rectangular breadbasket.",
+    "Grab the braided top round bread with one arm, place in the rectangular breadbasket.",
+    "Use the right arm to pick the braided top round bread and place in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and drop it in the medium light brown breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the round braided loaf and place it in the rectangular breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Place the round braided loaf into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the medium light brown breadbasket.",
+    "Grab the round braided loaf and drop it into the rectangular breadbasket.",
+    "Grab the round braided loaf and put it in the medium light brown breadbasket.",
+    "Grab the braided top round bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Pick the round braided loaf and drop it in the medium light brown breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the medium light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the medium light brown breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Grab the round braided loaf and put it in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the rectangular light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and drop it in the medium light brown breadbasket",
+    "Use the right arm to pick up the palm-sized braided golden bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the palm-sized braided golden bread and place it in the rectangular breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Place the round braided loaf into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the round braided loaf and put it in the medium light brown breadbasket.",
+    "Grab the braided top round bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Pick the round braided loaf and drop it in the rectangular light brown breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the medium light brown breadbasket.",
+    "Pick the round braided loaf and place it in the medium light brown breadbasket.",
+    "Grab the round braided loaf and drop it into the rectangular breadbasket.",
+    "Place the palm-sized braided golden bread into the medium light brown breadbasket using the right arm",
+    "Use one arm to grab the round braided loaf, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular breadbasket.",
+    "Grab the braided top round bread and put it in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the round braided loaf and place in the rectangular breadbasket.",
+    "Pick the round braided loaf and drop it in the medium light brown breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the rectangular light brown breadbasket.",
+    "Pick the braided top round bread and place it in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Place the palm-sized braided golden bread into the rectangular breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the rectangular light brown breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular breadbasket.",
+    "Grab the round braided loaf and put it in the medium light brown breadbasket.",
+    "Grab the palm-sized braided golden bread with one arm, place in the medium light brown breadbasket.",
+    "Use the right arm to pick the palm-sized braided golden bread and place in the rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and drop it in the rectangular breadbasket",
+    "Use the right arm to pick up the braided top round bread, then place it in the medium light brown breadbasket.",
+    "Pick the braided top round bread and place it in the rectangular breadbasket.",
+    "Grab the braided top round bread and drop it into the rectangular breadbasket.",
+    "Place the braided top round bread into the rectangular light brown breadbasket using the right arm",
+    "Use one arm to grab the braided top round bread, drop in the rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and drop it into the rectangular light brown breadbasket.",
+    "Grab the palm-sized braided golden bread and put it in the rectangular breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode48.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the rectangular bread soft inside and drop it inside the woven rectangular breadbasket.",
+    "Lift the golden crusted bread slice and set it in the breadbasket with rounded edges.",
+    "Drop the bread with golden surface color into the brown breadbasket with rounded corners",
+    "Grab the bread loaf with square shape with one hand and set it in the brown breadbasket with rounded corners.",
+    "Pick the bread loaf with square shape and move it to the light brown basket for bread.",
+    "Grab the bread with rounded corners with an arm and set in the breadbasket for holding bread.",
+    "Grab the soft golden baked bread for the breadbasket for holding bread with the left arm",
+    "Grab the bread with rounded corners with the left arm and drop it in the light brown basket for bread.",
+    "Use the left arm to grab the soft golden baked bread for the light brown basket for bread",
+    "Move the soft golden baked bread to the light brown basket for bread using one arm.",
+    "Pick up the bread loaf with square shape and drop it in the breadbasket with smooth woven texture.",
+    "Lift the rectangular bread soft inside and transfer to the breadbasket for holding bread.",
+    "Pick up the bread with golden surface color and put it in the medium woven breadbasket.",
+    "Pick the bread loaf with square shape and put it into the breadbasket with smooth woven texture.",
+    "Grab the bread with rounded corners, drop it into the light brown basket for bread.",
+    "Put the bread with rounded corners into the light brown basket for bread after grabbing it.",
+    "Put the rectangular bread soft inside into the brown breadbasket with rounded corners using an arm.",
+    "Use the left arm to grab the bread with golden surface color and drop it inside the brown breadbasket with rounded corners.",
+    "Lift the bread with firm crust edges and set it in the light brown wicker breadbasket.",
+    "Drop the brown bread loaf into the breadbasket with rounded edges",
+    "Grab the golden brown loaf-shaped bread with one hand and set it in the brown breadbasket.",
+    "Pick the bread loaf with square shape and move it to the light brown wicker breadbasket.",
+    "Grab the bread with firm crust edges with an arm and set in the breadbasket with wicker weave pattern.",
+    "Grab the bread with rounded corners for the breadbasket for holding bread with the left arm",
+    "Grab the golden crusted bread slice with the left arm and drop it in the woven rectangular breadbasket.",
+    "Use the left arm to grab the golden brown loaf-shaped bread for the brown breadbasket with rounded corners",
+    "Move the bread with rounded corners to the woven rectangular breadbasket using one arm.",
+    "Pick up the golden crusted bread slice and drop it in the medium-sized rectangular breadbasket.",
+    "Lift the golden bread and transfer to the breadbasket for holding bread.",
+    "Pick up the bread with firm crust edges and put it in the smooth textured brown breadbasket.",
+    "Pick the golden crusted bread slice and put it into the breadbasket with rounded edges.",
+    "Grab the golden brown loaf-shaped bread, drop it into the smooth textured brown breadbasket.",
+    "Put the bread with rounded corners into the brown breadbasket after grabbing it.",
+    "Put the bread with golden surface color into the breadbasket with wicker weave pattern using an arm.",
+    "Use the left arm to grab the golden brown loaf-shaped bread and drop it inside the brown breadbasket with rounded corners.",
+    "Lift the brown bread loaf and set it in the breadbasket with wicker weave pattern.",
+    "Drop the brown bread loaf into the breadbasket with smooth woven texture",
+    "Grab the slice-shaped bread with one hand and set it in the light brown basket for bread.",
+    "Pick the bread with rounded corners and move it to the breadbasket with rounded edges.",
+    "Grab the golden crusted bread slice with an arm and set in the light brown basket for bread.",
+    "Grab the square loaf of bread for the woven rectangular breadbasket with the left arm",
+    "Grab the bread loaf with square shape with the left arm and drop it in the breadbasket with rounded edges.",
+    "Use the left arm to grab the golden brown loaf-shaped bread for the light brown basket for bread",
+    "Move the bread with firm crust edges to the woven rectangular breadbasket using one arm.",
+    "Pick up the golden bread and drop it in the brown breadbasket.",
+    "Lift the bread with firm crust edges and transfer to the woven rectangular breadbasket.",
+    "Pick up the golden brown loaf-shaped bread and put it in the brown breadbasket.",
+    "Pick the bread loaf with square shape and put it into the smooth textured brown breadbasket.",
+    "Grab the golden brown loaf-shaped bread, drop it into the breadbasket for holding bread.",
+    "Put the slice-shaped bread into the breadbasket for holding bread after grabbing it.",
+    "Put the bread with golden surface color into the medium-sized rectangular breadbasket using an arm.",
+    "Use the left arm to grab the golden bread and drop it inside the breadbasket for holding bread.",
+    "Lift the bread loaf with square shape and set it in the breadbasket for holding bread.",
+    "Drop the bread with rounded corners into the brown breadbasket",
+    "Grab the bread with rounded corners with one hand and set it in the medium woven breadbasket.",
+    "Pick the soft golden baked bread and move it to the breadbasket with wicker weave pattern.",
+    "Grab the soft golden baked bread with an arm and set in the brown breadbasket with rounded corners.",
+    "Grab the bread loaf with square shape for the breadbasket with rounded edges with the left arm",
+    "Grab the bread with firm crust edges with the left arm and drop it in the breadbasket with wicker weave pattern.",
+    "Use the left arm to grab the square loaf of bread for the breadbasket for holding bread",
+    "Move the square loaf of bread to the brown breadbasket using one arm.",
+    "Pick up the square loaf of bread and drop it in the light brown basket for bread.",
+    "Lift the square loaf of bread and transfer to the light brown basket for bread.",
+    "Pick up the square loaf of bread and put it in the smooth textured brown breadbasket.",
+    "Pick the slice-shaped bread and put it into the light brown wicker breadbasket.",
+    "Grab the brown bread loaf, drop it into the smooth textured brown breadbasket.",
+    "Put the bread loaf with square shape into the breadbasket with smooth woven texture after grabbing it.",
+    "Put the slice-shaped bread into the light brown basket for bread using an arm.",
+    "Use the left arm to grab the brown bread loaf and drop it inside the breadbasket with wicker weave pattern.",
+    "Lift the bread with golden surface color and set it in the breadbasket with smooth woven texture.",
+    "Drop the golden bread into the breadbasket with smooth woven texture",
+    "Grab the square loaf of bread with one hand and set it in the woven rectangular breadbasket.",
+    "Pick the golden crusted bread slice and move it to the breadbasket with smooth woven texture.",
+    "Grab the rectangular bread soft inside with an arm and set in the woven rectangular breadbasket.",
+    "Grab the bread with firm crust edges for the breadbasket with smooth woven texture with the left arm",
+    "Grab the soft golden baked bread with the left arm and drop it in the breadbasket with rounded edges.",
+    "Use the left arm to grab the rectangular bread soft inside for the breadbasket with smooth woven texture",
+    "Move the bread with golden surface color to the breadbasket with wicker weave pattern using one arm.",
+    "Pick up the bread loaf with square shape and drop it in the medium woven breadbasket.",
+    "Lift the slice-shaped bread and transfer to the brown breadbasket.",
+    "Pick up the rectangular bread soft inside and put it in the light brown wicker breadbasket.",
+    "Pick the brown bread loaf and put it into the breadbasket for holding bread.",
+    "Grab the bread with firm crust edges, drop it into the brown breadbasket.",
+    "Put the bread with firm crust edges into the breadbasket with rounded edges after grabbing it.",
+    "Put the golden crusted bread slice into the smooth textured brown breadbasket using an arm.",
+    "Use the left arm to grab the square loaf of bread and drop it inside the medium woven breadbasket.",
+    "Lift the golden crusted bread slice and set it in the brown breadbasket with rounded corners.",
+    "Drop the rectangular bread soft inside into the breadbasket for holding bread",
+    "Grab the brown bread loaf with one hand and set it in the medium-sized rectangular breadbasket.",
+    "Pick the brown bread loaf and move it to the breadbasket with wicker weave pattern.",
+    "Grab the golden brown loaf-shaped bread with an arm and set in the light brown wicker breadbasket.",
+    "Grab the rectangular bread soft inside for the medium woven breadbasket with the left arm",
+    "Grab the bread with rounded corners with the left arm and drop it in the breadbasket with wicker weave pattern.",
+    "Use the left arm to grab the bread loaf with square shape for the light brown wicker breadbasket",
+    "Move the bread with golden surface color to the breadbasket with rounded edges using one arm.",
+    "Pick up the bread with firm crust edges and drop it in the breadbasket for holding bread.",
+    "Lift the golden bread and transfer to the breadbasket for holding bread.",
+    "Pick up the square loaf of bread and put it in the breadbasket for holding bread.",
+    "Pick the rectangular bread soft inside and put it into the breadbasket with smooth woven texture.",
+    "Grab the golden crusted bread slice, drop it into the light brown wicker breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread loaf medium-sized and put it in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the medium light brown breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the bread loaf medium-sized, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and place in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the rectangular breadbasket.",
+    "Place the small loaf-shaped bread into the rectangular breadbasket using the left arm",
+    "Grab the small loaf-shaped bread and put it in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the rectangular light brown breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the soft rectangular bread loaf, then place it in the medium light brown breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and place in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized into the rectangular breadbasket using the left arm",
+    "Grab the small loaf-shaped bread and put it in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the medium light brown breadbasket.",
+    "Pick the small loaf-shaped bread and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the bread loaf medium-sized, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and place in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the rectangular light brown breadbasket.",
+    "Place the small loaf-shaped bread into the rectangular light brown breadbasket using the left arm",
+    "Grab the small loaf-shaped bread and put it in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the rectangular light brown breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the rectangular light brown breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the rectangular light brown breadbasket",
+    "Use the left arm to pick up the bread loaf medium-sized, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and place in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf into the medium light brown breadbasket using the left arm",
+    "Grab the soft rectangular bread loaf and put it in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the medium light brown breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the rectangular breadbasket",
+    "Use the left arm to pick up the small loaf-shaped bread, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and place in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized with one arm, place in the rectangular breadbasket.",
+    "Place the soft rectangular bread loaf into the rectangular light brown breadbasket using the left arm",
+    "Grab the soft rectangular bread loaf and put it in the rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the rectangular light brown breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the soft rectangular bread loaf, then place it in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the soft rectangular bread loaf and place in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the medium light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the rectangular light brown breadbasket.",
+    "Place the bread loaf medium-sized into the rectangular breadbasket using the left arm",
+    "Grab the small loaf-shaped bread and put it in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the soft rectangular bread loaf and place it in the rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and drop it in the rectangular breadbasket",
+    "Use the left arm to pick up the bread loaf medium-sized, then place it in the medium light brown breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and place in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the medium light brown breadbasket.",
+    "Place the soft rectangular bread loaf into the rectangular light brown breadbasket using the left arm",
+    "Grab the soft rectangular bread loaf and put it in the rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and place it in the rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the small loaf-shaped bread, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and place in the rectangular light brown breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf, drop in the medium light brown breadbasket.",
+    "Grab the small loaf-shaped bread with one arm, place in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf into the rectangular breadbasket using the left arm",
+    "Grab the bread loaf medium-sized and put it in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf and drop it into the rectangular light brown breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the medium light brown breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the rectangular breadbasket",
+    "Use the left arm to pick up the bread loaf medium-sized, then place it in the rectangular light brown breadbasket.",
+    "Use the left arm to pick the small loaf-shaped bread and place in the rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the rectangular breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized, drop in the medium light brown breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the rectangular light brown breadbasket.",
+    "Place the soft rectangular bread loaf into the rectangular light brown breadbasket using the left arm",
+    "Grab the bread loaf medium-sized and put it in the rectangular light brown breadbasket.",
+    "Grab the small loaf-shaped bread and drop it into the rectangular light brown breadbasket.",
+    "Pick the bread loaf medium-sized and place it in the rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and drop it in the medium light brown breadbasket",
+    "Use the left arm to pick up the soft rectangular bread loaf, then place it in the rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf medium-sized and place in the medium light brown breadbasket.",
+    "Grab the bread loaf medium-sized and drop it into the rectangular light brown breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread, drop in the rectangular light brown breadbasket.",
+    "Grab the soft rectangular bread loaf with one arm, place in the rectangular breadbasket.",
+    "Place the bread loaf medium-sized into the rectangular light brown breadbasket using the left arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode495.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the light brown porous bread and the bread with rounded edges into the breadbasket for dough",
+    "Place the golden brown bread and the golden baked bread in the wooden breadbasket using the dual arm",
+    "Take the golden brown bread and the medium-sized bread piece together and place them into the breadbasket for baking.",
+    "Pick the square-shaped bread piece and the light brown porous bread, place them in the spiral ridged breadbasket.",
+    "Move the medium bread with rounded sides and the medium-sized bread piece at once into the smooth beige breadbasket.",
+    "Lift the bread with rounded edges and the medium bread with rounded sides with two arms, put in the breadbasket for dough.",
+    "Simultaneously use the dual arm to drop the bread with rounded edges and the medium bread with rounded sides in the round breadbasket.",
+    "Pick the bread with rounded edges and the rounded square loaf for the the breadbasket with flat base",
+    "Use both arms to move the soft square bread, the golden baked bread to the breadbasket for baking.",
+    "Take the sponge-textured golden bread and the fluffy baked bread, place them inside the medium breadbasket.",
+    "Simultaneously grab the bread with soft texture and the fluffy baked bread, drop in the palm-sized breadbasket.",
+    "Lift the bread with soft texture and the golden brown bread at once with the dual arm, then set them in the spiral ridged breadbasket.",
+    "Move the bread with soft texture and the soft square bread to the spiral ridged breadbasket",
+    "Simultaneously grab the medium-sized bread piece and the bread with rounded edges using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Pick the square-shaped bread piece and the golden brown bread and set them in the breadbasket with spiral lines.",
+    "Take the fluffy baked bread and the sponge-textured golden bread to the breadbasket shaped like a bowl",
+    "Shift the medium bread with rounded sides and the golden baked bread together to the breadbasket with flat base.",
+    "Grab both the fluffy baked bread and the sponge-textured golden bread, drop into the breadbasket with flat base.",
+    "Put the bread with soft texture and the fluffy baked bread into the breadbasket for dough using two arms.",
+    "Use two arms and set the rounded square loaf, the soft square bread in the breadbasket for dough.",
+    "Use the dual arm to place the square-shaped bread piece and the medium bread with rounded sides into the round breadbasket.",
+    "Grab both the bread with rounded edges and the golden brown bread with the dual arm and place in the spiral ridged breadbasket.",
+    "Grab the bread with soft texture and the sponge-textured golden bread quickly and drop them into the palm-sized breadbasket.",
+    "Grab two breads the bread with soft texture and the bread with rounded edges and place in the round breadbasket.",
+    "Pick up both the soft square bread and the bread with rounded edges, then place them in the medium breadbasket.",
+    "Take the soft square bread and the soft square bread then place in the wooden breadbasket.",
+    "Shift the medium bread with rounded sides and the sponge-textured golden bread into the breadbasket for dough",
+    "Place the light brown porous bread and the bread with rounded edges in the breadbasket for baking using the dual arm",
+    "Take the golden baked bread and the fluffy baked bread together and place them into the spiral ridged breadbasket.",
+    "Pick the square-shaped bread piece and the light brown porous bread, place them in the round breadbasket.",
+    "Move the bread with soft texture and the bread with soft texture at once into the breadbasket with spiral lines.",
+    "Lift the fluffy baked bread and the light brown porous bread with two arms, put in the spiral ridged breadbasket.",
+    "Simultaneously use the dual arm to drop the medium-sized bread piece and the sponge-textured golden bread in the smooth beige breadbasket.",
+    "Pick the light brown porous bread and the golden brown bread for the the breadbasket for dough",
+    "Use both arms to move the sponge-textured golden bread, the golden baked bread to the wooden breadbasket.",
+    "Take the golden baked bread and the golden brown bread, place them inside the breadbasket for baking.",
+    "Simultaneously grab the golden baked bread and the fluffy baked bread, drop in the breadbasket made of woven wood.",
+    "Lift the medium-sized bread piece and the fluffy baked bread at once with the dual arm, then set them in the breadbasket with flat base.",
+    "Move the medium bread with rounded sides and the golden brown bread to the spiral ridged breadbasket",
+    "Simultaneously grab the medium bread with rounded sides and the light brown porous bread using the dual arm, then drop them in the smooth beige breadbasket.",
+    "Pick the golden brown bread and the square-shaped bread piece and set them in the breadbasket for baking.",
+    "Take the medium bread with rounded sides and the bread with rounded edges to the palm-sized breadbasket",
+    "Shift the medium bread with rounded sides and the fluffy baked bread together to the breadbasket with flat base.",
+    "Grab both the medium bread with rounded sides and the fluffy baked bread, drop into the breadbasket shaped like a bowl.",
+    "Put the golden brown bread and the medium-sized bread piece into the breadbasket shaped like a bowl using two arms.",
+    "Use two arms and set the golden baked bread, the medium bread with rounded sides in the medium breadbasket.",
+    "Use the dual arm to place the bread with rounded edges and the golden baked bread into the round breadbasket.",
+    "Grab both the golden brown bread and the rounded square loaf with the dual arm and place in the breadbasket shaped like a bowl.",
+    "Grab the square-shaped bread piece and the golden baked bread quickly and drop them into the medium breadbasket.",
+    "Grab two breads the rounded square loaf and the light brown porous bread and place in the spiral ridged breadbasket.",
+    "Pick up both the rounded square loaf and the light brown porous bread, then place them in the palm-sized breadbasket.",
+    "Take the bread with rounded edges and the medium-sized bread piece then place in the breadbasket with spiral lines.",
+    "Shift the bread with soft texture and the bread with soft texture into the breadbasket for dough",
+    "Place the fluffy baked bread and the golden brown bread in the round breadbasket using the dual arm",
+    "Take the medium bread with rounded sides and the bread with soft texture together and place them into the breadbasket with flat base.",
+    "Pick the sponge-textured golden bread and the square-shaped bread piece, place them in the palm-sized breadbasket.",
+    "Move the light brown porous bread and the medium-sized bread piece at once into the breadbasket with flat base.",
+    "Lift the medium-sized bread piece and the golden baked bread with two arms, put in the round breadbasket.",
+    "Simultaneously use the dual arm to drop the sponge-textured golden bread and the golden baked bread in the round breadbasket.",
+    "Pick the light brown porous bread and the square-shaped bread piece for the the wooden breadbasket",
+    "Use both arms to move the light brown porous bread, the medium bread with rounded sides to the breadbasket with flat base.",
+    "Take the soft square bread and the soft square bread, place them inside the breadbasket for dough.",
+    "Simultaneously grab the fluffy baked bread and the light brown porous bread, drop in the palm-sized breadbasket.",
+    "Lift the soft square bread and the medium bread with rounded sides at once with the dual arm, then set them in the breadbasket shaped like a bowl.",
+    "Move the golden baked bread and the square-shaped bread piece to the breadbasket for baking",
+    "Simultaneously grab the rounded square loaf and the rounded square loaf using the dual arm, then drop them in the breadbasket made of woven wood.",
+    "Pick the light brown porous bread and the golden brown bread and set them in the breadbasket for baking.",
+    "Take the sponge-textured golden bread and the light brown porous bread to the wooden breadbasket",
+    "Shift the medium-sized bread piece and the square-shaped bread piece together to the breadbasket with flat base.",
+    "Grab both the golden baked bread and the bread with soft texture, drop into the breadbasket made of woven wood.",
+    "Put the square-shaped bread piece and the medium bread with rounded sides into the spiral ridged breadbasket using two arms.",
+    "Use two arms and set the sponge-textured golden bread, the golden brown bread in the medium breadbasket.",
+    "Use the dual arm to place the light brown porous bread and the square-shaped bread piece into the wooden breadbasket.",
+    "Grab both the bread with rounded edges and the golden brown bread with the dual arm and place in the palm-sized breadbasket.",
+    "Grab the medium-sized bread piece and the medium bread with rounded sides quickly and drop them into the spiral ridged breadbasket.",
+    "Grab two breads the rounded square loaf and the square-shaped bread piece and place in the breadbasket shaped like a bowl.",
+    "Pick up both the fluffy baked bread and the sponge-textured golden bread, then place them in the breadbasket with spiral lines.",
+    "Take the golden brown bread and the bread with soft texture then place in the breadbasket for dough.",
+    "Shift the light brown porous bread and the golden brown bread into the breadbasket shaped like a bowl",
+    "Place the rounded square loaf and the bread with rounded edges in the round breadbasket using the dual arm",
+    "Take the soft square bread and the rounded square loaf together and place them into the medium breadbasket.",
+    "Pick the sponge-textured golden bread and the soft square bread, place them in the smooth beige breadbasket.",
+    "Move the sponge-textured golden bread and the light brown porous bread at once into the breadbasket with flat base.",
+    "Lift the golden brown bread and the golden brown bread with two arms, put in the smooth beige breadbasket.",
+    "Simultaneously use the dual arm to drop the medium bread with rounded sides and the medium-sized bread piece in the breadbasket with spiral lines.",
+    "Pick the bread with rounded edges and the square-shaped bread piece for the the smooth beige breadbasket",
+    "Use both arms to move the medium-sized bread piece, the medium bread with rounded sides to the spiral ridged breadbasket.",
+    "Take the golden baked bread and the square-shaped bread piece, place them inside the breadbasket for dough.",
+    "Simultaneously grab the medium bread with rounded sides and the medium-sized bread piece, drop in the spiral ridged breadbasket.",
+    "Lift the square-shaped bread piece and the golden baked bread at once with the dual arm, then set them in the smooth beige breadbasket.",
+    "Move the light brown porous bread and the medium-sized bread piece to the breadbasket made of woven wood",
+    "Simultaneously grab the sponge-textured golden bread and the light brown porous bread using the dual arm, then drop them in the breadbasket for dough.",
+    "Pick the golden brown bread and the medium bread with rounded sides and set them in the breadbasket for baking.",
+    "Take the golden baked bread and the fluffy baked bread to the spiral ridged breadbasket",
+    "Shift the bread with soft texture and the soft square bread together to the breadbasket with spiral lines.",
+    "Grab both the fluffy baked bread and the bread with soft texture, drop into the palm-sized breadbasket.",
+    "Put the golden baked bread and the sponge-textured golden bread into the breadbasket with flat base using two arms.",
+    "Use two arms and set the sponge-textured golden bread, the soft square bread in the breadbasket with flat base.",
+    "Use the dual arm to place the golden baked bread and the light brown porous bread into the palm-sized breadbasket.",
+    "Grab both the light brown porous bread and the golden baked bread with the dual arm and place in the smooth beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the round beige breadbasket.",
+    "Use one arm to grab the square bread with light spots and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the square bread with light spots and place in the round beige breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the square bread with light spots, then place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and drop it into the light wooden breadbasket.",
+    "Place the square bread with light spots and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the beige breadbasket.",
+    "Pick the soft bread with golden edges and the soft bread with golden edges and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and put them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Place the square bread with light spots and the spongy golden brown bread into the light wooden breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the soft bread with golden edges with two arms, place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the round beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges and put them in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop it into the light wooden breadbasket.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the light wooden breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop them into the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the square bread with light spots, drop in the beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the soft bread with golden edges and place in the round beige breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Place the spongy golden brown bread and the spongy golden brown bread into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the spongy golden brown bread, drop in the round beige breadbasket.",
+    "Use the dual arm to pick the spongy golden brown bread and the soft bread with golden edges and place in the light wooden breadbasket.",
+    "Pick the soft bread with golden edges and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop it into the beige breadbasket.",
+    "Place the spongy golden brown bread and the square bread with light spots into the round beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the square bread with light spots, drop in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the square bread with light spots and place in the beige breadbasket.",
+    "Pick the square bread with light spots and the spongy golden brown bread and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop it into the round beige breadbasket.",
+    "Place the square bread with light spots and the soft bread with golden edges into the beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the spongy golden brown bread with two arms, place in the light wooden breadbasket.",
+    "Grab the square bread with light spots and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the square bread with light spots, drop in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the square bread with light spots and place in the light wooden breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and put them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop it into the beige breadbasket.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the round beige breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the square bread with light spots with two arms, place in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the square bread with light spots and the soft bread with golden edges, drop in the beige breadbasket.",
+    "Use the dual arm to pick the square bread with light spots and the square bread with light spots and place in the beige breadbasket.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the square bread with light spots, then place them in the beige breadbasket.",
+    "Grab the soft bread with golden edges and the square bread with light spots and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the beige breadbasket.",
+    "Place the soft bread with golden edges and the spongy golden brown bread into the light wooden breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the square bread with light spots with two arms, place in the beige breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the spongy golden brown bread and place in the beige breadbasket.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the light wooden breadbasket.",
+    "Use the dual arm to pick up the square bread with light spots and the spongy golden brown bread, then place them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the soft bread with golden edges and put them in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop it into the round beige breadbasket.",
+    "Place the square bread with light spots and the square bread with light spots into the beige breadbasket using the dual arm",
+    "Grab the soft bread with golden edges and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the beige breadbasket.",
+    "Use one arm to grab the spongy golden brown bread and the soft bread with golden edges, drop in the light wooden breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the light wooden breadbasket.",
+    "Pick the square bread with light spots and the soft bread with golden edges and place them in the round beige breadbasket.",
+    "Use the dual arm to pick up the soft bread with golden edges and the spongy golden brown bread, then place them in the round beige breadbasket.",
+    "Grab the square bread with light spots and the square bread with light spots and put them in the beige breadbasket.",
+    "Grab the square bread with light spots and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Place the soft bread with golden edges and the soft bread with golden edges into the light wooden breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the round beige breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and drop them into the light wooden breadbasket.",
+    "Use one arm to grab the soft bread with golden edges and the soft bread with golden edges, drop in the round beige breadbasket.",
+    "Use the dual arm to pick the soft bread with golden edges and the square bread with light spots and place in the light wooden breadbasket.",
+    "Pick the spongy golden brown bread and the square bread with light spots and place them in the beige breadbasket.",
+    "Use the dual arm to pick up the spongy golden brown bread and the soft bread with golden edges, then place them in the light wooden breadbasket.",
+    "Grab the spongy golden brown bread and the square bread with light spots and put them in the round beige breadbasket.",
+    "Grab the soft bread with golden edges and the spongy golden brown bread and drop it into the round beige breadbasket.",
+    "Place the square bread with light spots and the square bread with light spots into the light wooden breadbasket using the dual arm",
+    "Grab the spongy golden brown bread and the soft bread with golden edges with two arms, place in the light wooden breadbasket.",
+    "Grab the soft bread with golden edges and the soft bread with golden edges and drop them into the light wooden breadbasket."
+  ]
+}