Add files using upload-large-folder tool

place_bread_basket/franka_randomized_500/instructions/episode109.json

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

place_bread_basket/franka_randomized_500/instructions/episode146.json

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

place_bread_basket/franka_randomized_500/instructions/episode149.json

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

place_bread_basket/franka_randomized_500/instructions/episode20.json

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

place_bread_basket/franka_randomized_500/instructions/episode209.json

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

place_bread_basket/franka_randomized_500/instructions/episode214.json

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

place_bread_basket/franka_randomized_500/instructions/episode244.json

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

place_bread_basket/franka_randomized_500/instructions/episode246.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use two arms and set the bread with golden crust, the cuboid bread in the breadbasket shaped like a bowl.",
+    "Use the left arm to place the round bread with crusty texture and the light golden brown bread into the breadbasket with flat base.",
+    "Simultaneously grab the small bread and the hand-sized bread block, drop in the smooth beige breadbasket.",
+    "Grab two breads the golden brown bread with braided design and the bread block with light patches and place in the smooth beige breadbasket.",
+    "Pick up both the golden brown bread and the golden bread loaf, then place them in the breadbasket for dough.",
+    "Take the golden brown bread and the cuboid bread, place them inside the wooden breadbasket.",
+    "Take the round bread with crusty texture and the bread loaf with uneven edges together and place them into the smooth beige breadbasket.",
+    "Grab both the golden bread loaf with soft inside and the bread with rough texture, drop into the breadbasket shaped like a bowl.",
+    "Lift the golden brown bread with braided design and the bread with rough texture with two arms, put in the palm-sized breadbasket.",
+    "Pick the smooth crusty small bread and the square-shaped bread for the the wooden breadbasket",
+    "Shift the smooth crusty small bread and the bread loaf with bumpy surface together to the wooden breadbasket.",
+    "Place the smooth crusty small bread and the golden bread in the breadbasket with flat base using the left arm",
+    "Move the bread with golden crust and the soft bread to the spiral ridged breadbasket",
+    "Take the golden brown bread with braided design and the bread loaf with uneven edges to the breadbasket with flat base",
+    "Grab both the soft golden bread and the light golden brown bread with the left arm and place in the wooden breadbasket.",
+    "Lift the golden bread loaf with soft inside and the square-shaped bread at once with the left arm, then set them in the medium breadbasket.",
+    "Shift the golden brown bread with braided design and the square-shaped bread into the round breadbasket",
+    "Simultaneously use the left arm to drop the small bread and the square-shaped bread in the round breadbasket.",
+    "Use both arms to move the small golden baked bread, the golden bread loaf to the round breadbasket.",
+    "Pick the soft doughy bread and the hand-sized bread block, place them in the medium breadbasket.",
+    "Grab the golden brown bread with braided design and the cuboid bread quickly and drop them into the round breadbasket.",
+    "Move the golden brown bread with braided design and the bread loaf with bumpy surface at once into the breadbasket shaped like a bowl.",
+    "Put the soft golden bread and the golden bread loaf into the medium breadbasket using two arms.",
+    "Take the bread with golden crust and the square-shaped bread then place in the round breadbasket.",
+    "Simultaneously grab the soft doughy bread and the doughy and soft bread using the left arm, then drop them in the medium breadbasket.",
+    "Pick the golden bread loaf with soft inside and the golden bread and set them in the round breadbasket.",
+    "Use two arms and set the bread with golden crust, the bread loaf with uneven edges in the spiral ridged breadbasket.",
+    "Use the left arm to place the round bread with crusty texture and the doughy and soft bread into the smooth beige breadbasket.",
+    "Simultaneously grab the small bread and the bread loaf with uneven edges, drop in the wooden breadbasket.",
+    "Grab two breads the golden bread loaf with soft inside and the bread loaf with uneven edges and place in the wooden breadbasket.",
+    "Pick up both the round bread with crusty texture and the bread loaf with bumpy surface, then place them in the wooden breadbasket.",
+    "Take the soft golden bread and the bread with rough texture, place them inside the breadbasket made of woven wood.",
+    "Take the smooth crusty small bread and the soft bread together and place them into the spiral ridged breadbasket.",
+    "Grab both the smooth crusty small bread and the bread with rough texture, drop into the wooden breadbasket.",
+    "Lift the golden brown bread with braided design and the bread loaf with uneven edges with two arms, put in the wooden breadbasket.",
+    "Pick the soft doughy bread and the soft bread for the the breadbasket with spiral lines",
+    "Shift the smooth crusty small bread and the bread with rough texture together to the wooden breadbasket.",
+    "Place the smooth crusty small bread and the light golden brown bread in the round breadbasket using the left arm",
+    "Move the soft doughy bread and the square-shaped bread to the breadbasket with spiral lines",
+    "Take the round bread with braided top and the hand-sized bread block to the breadbasket for dough",
+    "Grab both the soft doughy bread and the golden bread loaf with the left arm and place in the breadbasket with flat base.",
+    "Lift the soft doughy bread and the doughy and soft bread at once with the left arm, then set them in the round breadbasket.",
+    "Shift the small bread and the bread block with light patches into the breadbasket with flat base",
+    "Simultaneously use the left arm to drop the soft golden bread and the bread loaf with uneven edges in the breadbasket with spiral lines.",
+    "Use both arms to move the bread with golden crust, the golden bread to the breadbasket for baking.",
+    "Pick the round bread with crusty texture and the bread with rough texture, place them in the breadbasket made of woven wood.",
+    "Grab the bread with golden crust and the bread block with light patches quickly and drop them into the palm-sized breadbasket.",
+    "Move the small bread and the light golden brown bread at once into the wooden breadbasket.",
+    "Put the golden brown bread and the soft bread into the breadbasket with spiral lines using two arms.",
+    "Take the golden brown bread with braided design and the soft bread then place in the spiral ridged breadbasket.",
+    "Simultaneously grab the small bread and the doughy and soft bread using the left arm, then drop them in the breadbasket made of woven wood.",
+    "Pick the golden bread loaf with soft inside and the square-shaped bread and set them in the breadbasket for baking.",
+    "Use two arms and set the round bread with crusty texture, the bread loaf with bumpy surface in the palm-sized breadbasket.",
+    "Use the left arm to place the golden bread loaf with soft inside and the golden bread into the breadbasket made of woven wood.",
+    "Simultaneously grab the small bread and the light golden brown bread, drop in the medium breadbasket.",
+    "Grab two breads the braided bread loaf and the golden bread and place in the breadbasket shaped like a bowl.",
+    "Pick up both the small golden baked bread and the hand-sized bread block, then place them in the breadbasket shaped like a bowl.",
+    "Take the golden brown bread and the cuboid bread, place them inside the breadbasket with flat base.",
+    "Take the bread with golden crust and the bread loaf with uneven edges together and place them into the breadbasket for dough.",
+    "Grab both the round bread with crusty texture and the golden bread loaf, drop into the round breadbasket.",
+    "Lift the round bread with crusty texture and the bread loaf with bumpy surface with two arms, put in the breadbasket made of woven wood.",
+    "Pick the golden brown bread with braided design and the soft bread for the the wooden breadbasket",
+    "Shift the small bread and the bread with rough texture together to the breadbasket made of woven wood.",
+    "Place the golden brown bread and the golden bread loaf in the round breadbasket using the left arm",
+    "Move the smooth crusty small bread and the bread loaf with uneven edges to the wooden breadbasket",
+    "Take the smooth crusty small bread and the bread with rough texture to the breadbasket with flat base",
+    "Grab both the smooth crusty small bread and the golden bread loaf with the left arm and place in the smooth beige breadbasket.",
+    "Lift the small bread and the bread loaf with bumpy surface at once with the left arm, then set them in the breadbasket with spiral lines.",
+    "Shift the golden brown bread and the bread loaf with uneven edges into the wooden breadbasket",
+    "Simultaneously use the left arm to drop the bread with golden crust and the bread with rough texture in the breadbasket shaped like a bowl.",
+    "Use both arms to move the golden brown bread, the doughy and soft bread to the breadbasket made of woven wood.",
+    "Pick the golden bread loaf with soft inside and the light golden brown bread, place them in the breadbasket made of woven wood.",
+    "Grab the soft golden bread and the bread loaf with uneven edges quickly and drop them into the spiral ridged breadbasket.",
+    "Move the small bread and the cuboid bread at once into the spiral ridged breadbasket.",
+    "Put the golden brown bread and the golden bread loaf into the round breadbasket using two arms.",
+    "Take the small bread and the bread loaf with uneven edges then place in the wooden breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the bread loaf with uneven edges using the left arm, then drop them in the round breadbasket.",
+    "Pick the bread with golden crust and the cuboid bread and set them in the wooden breadbasket.",
+    "Use two arms and set the small bread, the light golden brown bread in the palm-sized breadbasket.",
+    "Use the left arm to place the small bread and the golden bread loaf into the breadbasket with spiral lines.",
+    "Simultaneously grab the braided bread loaf and the square-shaped bread, drop in the breadbasket made of woven wood.",
+    "Grab two breads the round bread with braided top and the soft bread and place in the breadbasket for dough.",
+    "Pick up both the small bread and the hand-sized bread block, then place them in the breadbasket with spiral lines.",
+    "Take the golden bread loaf with soft inside and the bread block with light patches, place them inside the breadbasket shaped like a bowl.",
+    "Take the round bread with crusty texture and the hand-sized bread block together and place them into the wooden breadbasket.",
+    "Grab both the braided bread loaf and the light golden brown bread, drop into the breadbasket made of woven wood.",
+    "Lift the round bread with crusty texture and the bread block with light patches with two arms, put in the medium breadbasket.",
+    "Pick the bread with golden crust and the bread block with light patches for the the breadbasket made of woven wood",
+    "Shift the soft doughy bread and the bread loaf with uneven edges together to the breadbasket with spiral lines.",
+    "Place the small bread and the bread with rough texture in the medium breadbasket using the left arm",
+    "Move the small golden baked bread and the bread with rough texture to the round breadbasket",
+    "Take the smooth crusty small bread and the golden bread loaf to the breadbasket for baking",
+    "Grab both the round bread with crusty texture and the bread with rough texture with the left arm and place in the breadbasket for dough.",
+    "Lift the soft doughy bread and the square-shaped bread at once with the left arm, then set them in the breadbasket for baking.",
+    "Shift the bread with golden crust and the cuboid bread into the palm-sized breadbasket",
+    "Simultaneously use the left arm to drop the small bread and the golden bread loaf in the breadbasket with flat base.",
+    "Use both arms to move the round bread with braided top, the golden bread loaf to the wooden breadbasket.",
+    "Pick the soft doughy bread and the doughy and soft bread, place them in the round breadbasket.",
+    "Grab the small golden baked bread and the soft bread quickly and drop them into the smooth beige breadbasket.",
+    "Move the golden brown bread and the soft bread at once into the breadbasket with flat base."
+  ],
+  "unseen": [
+    "Place the braided top round bread and the rectangular bread loaf into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick the palm-sized braided golden bread and the rectangular bread loaf and place in the round beige breadbasket.",
+    "Pick the round braided loaf and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and put them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the round beige breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the rectangular bread loaf and place in the light wooden breadbasket.",
+    "Pick the braided top round bread and the bread with golden crust and place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the round beige breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the bread with golden crust into the round beige breadbasket using the left arm",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the round beige breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the bread loaf with soft surface, drop in the beige breadbasket.",
+    "Use the left arm to pick up the palm-sized braided golden bread and the rectangular bread loaf, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Place the braided top round bread and the bread loaf with soft surface into the light wooden breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the bread with golden crust and place in the beige breadbasket.",
+    "Pick the braided top round bread and the bread loaf with soft surface and place them in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and put them in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread loaf with soft surface, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the bread with golden crust into the round beige breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the round beige breadbasket.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the beige breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread with golden crust, then place them in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the bread with golden crust into the round beige breadbasket using the left arm",
+    "Use the left arm to pick the round braided loaf and the rectangular bread loaf and place in the light wooden breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the round beige breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the round braided loaf and the bread loaf with soft surface, drop in the round beige breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the round beige breadbasket.",
+    "Place the round braided loaf and the rectangular bread loaf into the beige breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the bread with golden crust and place in the beige breadbasket.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the round braided loaf and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread with golden crust, then place them in the beige breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the braided top round bread and the rectangular bread loaf into the beige breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the light wooden breadbasket.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop it into the light wooden breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the light wooden breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the beige breadbasket.",
+    "Place the round braided loaf and the bread with golden crust into the beige breadbasket using the left arm",
+    "Use the left arm to pick the braided top round bread and the bread loaf with soft surface and place in the round beige breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the beige breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and put them in the beige breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and drop it into the beige breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the left arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the beige breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the round beige breadbasket.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the beige breadbasket using the left arm",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the round beige breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop it into the round beige breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread with golden crust, drop in the beige breadbasket.",
+    "Use the left arm to pick up the braided top round bread and the bread with golden crust, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the bread with golden crust into the round beige breadbasket using the left arm",
+    "Use the left arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the beige breadbasket.",
+    "Pick the braided top round bread and the rectangular bread loaf and place them in the round beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the light wooden breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf with two arms, place in the beige breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the beige breadbasket.",
+    "Use one arm to grab the braided top round bread and the rectangular bread loaf, drop in the beige breadbasket.",
+    "Use the left arm to pick up the palm-sized braided golden bread and the rectangular bread loaf, then place them in the light wooden breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the light wooden breadbasket.",
+    "Place the palm-sized braided golden bread and the bread with golden crust into the light wooden breadbasket using the left arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode271.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the golden bread and the soft golden bread at once with the left arm, then set them in the woven light beige breadbasket.",
+    "Grab both the cuboid bread and the soft doughy bread with the left arm and place in the light beige rectangular breadbasket.",
+    "Grab the golden bread loaf and the soft golden bread quickly and drop them into the woven light beige breadbasket.",
+    "Use two arms and set the bread with rough texture, the soft golden bread in the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with uneven edges and the golden brown bread, drop in the textured beige breadbasket.",
+    "Take the hand-sized bread block and the braided bread loaf then place in the plastic mesh breadbasket.",
+    "Put the cuboid bread and the round bread with crusty texture into the beige breadbasket using two arms.",
+    "Use both arms to move the golden bread loaf, the golden bread loaf with soft inside to the plastic breadbasket with mesh sides.",
+    "Use the left arm to place the bread with rough texture and the golden brown bread into the rectangular breadbasket.",
+    "Grab two breads the bread loaf with bumpy surface and the golden brown bread with braided design and place in the light and textured breadbasket.",
+    "Lift the bread loaf with uneven edges and the golden brown bread with two arms, put in the textured beige breadbasket.",
+    "Grab both the soft bread and the round bread with crusty texture, drop into the breadbasket with textured sides.",
+    "Take the golden bread and the soft golden bread together and place them into the textured beige breadbasket.",
+    "Place the golden bread loaf and the bread with golden crust in the beige breadbasket for holding bread using the left arm",
+    "Pick the bread with rough texture and the soft golden bread for the the breadbasket for bread storage",
+    "Simultaneously use the left arm to drop the bread with rough texture and the golden brown bread in the beige breadbasket.",
+    "Shift the golden bread loaf and the smooth crusty small bread together to the light and textured breadbasket.",
+    "Take the bread with rough texture and the braided bread loaf, place them inside the breadbasket for bread storage.",
+    "Pick the bread loaf with uneven edges and the round bread with braided top and set them in the beige breadbasket for holding bread.",
+    "Take the cuboid bread and the bread with golden crust to the light and textured breadbasket",
+    "Move the cuboid bread and the small golden baked bread to the plastic mesh breadbasket",
+    "Pick up both the square-shaped bread and the braided bread loaf, then place them in the textured beige breadbasket.",
+    "Simultaneously grab the hand-sized bread block and the braided bread loaf using the left arm, then drop them in the plastic mesh breadbasket.",
+    "Move the bread with rough texture and the golden brown bread with braided design at once into the textured beige breadbasket.",
+    "Pick the bread block with light patches and the round bread with braided top, place them in the breadbasket with textured sides.",
+    "Shift the bread block with light patches and the small bread into the breadbasket for bread storage",
+    "Lift the golden bread loaf and the small golden baked bread at once with the left arm, then set them in the beige breadbasket.",
+    "Grab both the bread loaf with bumpy surface and the round bread with crusty texture with the left arm and place in the rectangular breadbasket.",
+    "Grab the bread block with light patches and the small golden baked bread quickly and drop them into the beige breadbasket.",
+    "Use two arms and set the doughy and soft bread, the golden bread loaf with soft inside in the plastic mesh breadbasket.",
+    "Simultaneously grab the golden bread and the bread with golden crust, drop in the beige breadbasket for holding bread.",
+    "Take the soft bread and the small bread then place in the rectangular breadbasket.",
+    "Put the bread loaf with bumpy surface and the soft golden bread into the light and textured breadbasket using two arms.",
+    "Use both arms to move the golden bread, the soft doughy bread to the beige breadbasket.",
+    "Use the left arm to place the golden bread loaf and the golden brown bread with braided design into the light and textured breadbasket.",
+    "Grab two breads the bread loaf with uneven edges and the soft golden bread and place in the beige breadbasket for holding bread.",
+    "Lift the bread block with light patches and the small golden baked bread with two arms, put in the plastic breadbasket with mesh sides.",
+    "Grab both the light golden brown bread and the golden bread loaf with soft inside, drop into the plastic mesh breadbasket.",
+    "Take the golden bread and the round bread with braided top together and place them into the textured beige breadbasket.",
+    "Place the golden bread and the soft doughy bread in the medium rectangular breadbasket using the left arm",
+    "Pick the bread loaf with uneven edges and the golden bread loaf with soft inside for the the light beige rectangular breadbasket",
+    "Simultaneously use the left arm to drop the bread loaf with bumpy surface and the bread with golden crust in the rectangular breadbasket.",
+    "Shift the bread block with light patches and the soft golden bread together to the light beige rectangular breadbasket.",
+    "Take the golden bread and the soft golden bread, place them inside the breadbasket with textured sides.",
+    "Pick the square-shaped bread and the smooth crusty small bread and set them in the plastic breadbasket with mesh sides.",
+    "Take the hand-sized bread block and the small golden baked bread to the light beige rectangular breadbasket",
+    "Move the bread loaf with uneven edges and the soft golden bread to the breadbasket with textured sides",
+    "Pick up both the bread with rough texture and the golden brown bread, then place them in the woven light beige breadbasket.",
+    "Simultaneously grab the bread loaf with uneven edges and the smooth crusty small bread using the left arm, then drop them in the light and textured breadbasket.",
+    "Move the bread with rough texture and the small golden baked bread at once into the breadbasket for bread storage.",
+    "Pick the bread with rough texture and the round bread with crusty texture, place them in the light and textured breadbasket.",
+    "Shift the cuboid bread and the golden bread loaf with soft inside into the breadbasket with textured sides",
+    "Lift the soft bread and the braided bread loaf at once with the left arm, then set them in the light and textured breadbasket.",
+    "Grab both the hand-sized bread block and the round bread with crusty texture with the left arm and place in the light beige rectangular breadbasket.",
+    "Grab the soft bread and the soft golden bread quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Use two arms and set the doughy and soft bread, the soft doughy bread in the breadbasket for bread storage.",
+    "Simultaneously grab the soft bread and the golden brown bread, drop in the textured beige breadbasket.",
+    "Take the golden bread and the soft golden bread then place in the medium rectangular breadbasket.",
+    "Put the doughy and soft bread and the golden brown bread into the woven light beige breadbasket using two arms.",
+    "Use both arms to move the light golden brown bread, the smooth crusty small bread to the plastic breadbasket with mesh sides.",
+    "Use the left arm to place the bread loaf with uneven edges and the soft golden bread into the light and textured breadbasket.",
+    "Grab two breads the bread block with light patches and the golden brown bread with braided design and place in the textured beige breadbasket.",
+    "Lift the square-shaped bread and the small bread with two arms, put in the light beige rectangular breadbasket.",
+    "Grab both the doughy and soft bread and the golden bread loaf with soft inside, drop into the woven light beige breadbasket.",
+    "Take the golden bread loaf and the golden brown bread with braided design together and place them into the light beige rectangular breadbasket.",
+    "Place the bread with rough texture and the round bread with crusty texture in the light and textured breadbasket using the left arm",
+    "Pick the square-shaped bread and the golden brown bread for the the rectangular breadbasket",
+    "Simultaneously use the left arm to drop the light golden brown bread and the golden brown bread in the light beige rectangular breadbasket.",
+    "Shift the golden bread and the soft golden bread together to the plastic mesh breadbasket.",
+    "Take the golden bread loaf and the golden brown bread with braided design, place them inside the medium rectangular breadbasket.",
+    "Pick the bread with rough texture and the smooth crusty small bread and set them in the woven light beige breadbasket.",
+    "Take the light golden brown bread and the smooth crusty small bread to the light and textured breadbasket",
+    "Move the bread loaf with bumpy surface and the golden brown bread with braided design to the breadbasket with textured sides",
+    "Pick up both the cuboid bread and the golden bread loaf with soft inside, then place them in the light and textured breadbasket.",
+    "Simultaneously grab the bread block with light patches and the small bread using the left arm, then drop them in the plastic breadbasket with mesh sides.",
+    "Move the bread block with light patches and the small bread at once into the breadbasket with textured sides.",
+    "Pick the bread with rough texture and the round bread with crusty texture, place them in the medium rectangular breadbasket.",
+    "Shift the bread block with light patches and the bread with golden crust into the breadbasket with textured sides",
+    "Lift the square-shaped bread and the golden brown bread with braided design at once with the left arm, then set them in the breadbasket for bread storage.",
+    "Grab both the golden bread loaf and the small golden baked bread with the left arm and place in the beige breadbasket for holding bread.",
+    "Grab the square-shaped bread and the golden brown bread with braided design quickly and drop them into the breadbasket with textured sides.",
+    "Use two arms and set the bread block with light patches, the small bread in the light beige rectangular breadbasket.",
+    "Simultaneously grab the golden bread and the golden brown bread, drop in the light beige rectangular breadbasket.",
+    "Take the bread with rough texture and the round bread with crusty texture then place in the beige breadbasket.",
+    "Put the bread block with light patches and the bread with golden crust into the light and textured breadbasket using two arms.",
+    "Use both arms to move the cuboid bread, the smooth crusty small bread to the medium rectangular breadbasket.",
+    "Use the left arm to place the bread block with light patches and the small golden baked bread into the light beige rectangular breadbasket.",
+    "Grab two breads the light golden brown bread and the golden brown bread with braided design and place in the beige breadbasket.",
+    "Lift the cuboid bread and the small golden baked bread with two arms, put in the plastic mesh breadbasket.",
+    "Grab both the square-shaped bread and the small bread, drop into the beige breadbasket.",
+    "Take the doughy and soft bread and the soft doughy bread together and place them into the beige breadbasket.",
+    "Place the bread loaf with bumpy surface and the golden brown bread in the woven light beige breadbasket using the left arm",
+    "Pick the cuboid bread and the bread with golden crust for the the breadbasket for bread storage",
+    "Simultaneously use the left arm to drop the soft bread and the golden brown bread in the light beige rectangular breadbasket.",
+    "Shift the bread loaf with uneven edges and the bread with golden crust together to the beige breadbasket for holding bread.",
+    "Take the golden bread and the small bread, place them inside the light beige rectangular breadbasket.",
+    "Pick the light golden brown bread and the golden bread loaf with soft inside and set them in the woven light beige breadbasket.",
+    "Take the bread loaf with uneven edges and the soft golden bread to the light beige rectangular breadbasket",
+    "Move the light golden brown bread and the small bread to the woven light beige breadbasket",
+    "Pick up both the bread loaf with uneven edges and the golden brown bread with braided design, then place them in the textured beige breadbasket."
+  ],
+  "unseen": [
+    "Grab the bread with golden crust and the braided top round bread and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the braided top round bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the bread with golden crust and the round braided loaf, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop it into the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the braided top round bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the braided top round bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the rectangular bread loaf and the palm-sized braided golden bread, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the rectangular bread loaf and the braided top round bread and place in the woven shallow breadbasket.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the breadbasket with woven pattern using the left arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop it into the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the braided top round bread and place them in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the braided top round bread and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the braided top round bread, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the braided top round bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the bread with golden crust and the round braided loaf, then place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the bread with golden crust and the braided top round bread and place in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface and the braided top round bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the bread with golden crust and the round braided loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop it into the breadbasket with woven pattern.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the woven shallow breadbasket using the left arm",
+    "Grab the rectangular bread loaf and the round braided loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the braided top round bread and drop it into the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the braided top round bread and place them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the bread with golden crust and the braided top round bread, then place them in the woven shallow breadbasket.",
+    "Use the left arm to pick the bread with golden crust and the palm-sized braided golden bread and place in the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the woven shallow breadbasket using the left arm",
+    "Grab the bread with golden crust and the braided top round bread and drop them into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the braided top round bread and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust and the braided top round bread, drop in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the rectangular bread loaf and the round braided loaf, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the rectangular bread loaf and the braided top round bread and place in the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the round braided loaf into the woven shallow breadbasket using the left arm",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop it into the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and the palm-sized braided golden bread and place them in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the round braided loaf, drop in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf with two arms, place in the woven shallow breadbasket.",
+    "Use the left arm to pick up the bread with golden crust and the palm-sized braided golden bread, then place them in the breadbasket with woven pattern.",
+    "Use the left arm to pick the bread loaf with soft surface and the palm-sized braided golden bread and place in the woven shallow breadbasket.",
+    "Place the bread loaf with soft surface and the round braided loaf into the breadbasket with woven pattern using the left arm",
+    "Grab the bread loaf with soft surface and the round braided loaf and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop it into the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the round braided loaf and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the palm-sized braided golden bread, drop in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the shallow rectangular breadbasket.",
+    "Use the left arm to pick up the bread loaf with soft surface and the round braided loaf, then place them in the breadbasket with woven pattern.",
+    "Use the left arm to pick the bread loaf with soft surface and the round braided loaf and place in the breadbasket with woven pattern.",
+    "Place the bread loaf with soft surface and the braided top round bread into the shallow rectangular breadbasket using the left arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop them into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the round braided loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the braided top round bread and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust and the round braided loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the rectangular bread loaf and the braided top round bread, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the bread with golden crust and the braided top round bread and place in the woven shallow breadbasket.",
+    "Place the bread with golden crust and the palm-sized braided golden bread into the woven shallow breadbasket using the left arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the palm-sized braided golden bread and drop it into the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the braided top round bread and place them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the round braided loaf and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the round braided loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the braided top round bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the bread loaf with soft surface and the braided top round bread, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf with soft surface and the braided top round bread and place in the woven shallow breadbasket.",
+    "Place the rectangular bread loaf and the round braided loaf into the breadbasket with woven pattern using the left arm",
+    "Grab the bread with golden crust and the round braided loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop it into the breadbasket with woven pattern.",
+    "Pick the bread with golden crust and the round braided loaf and place them in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the palm-sized braided golden bread and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the braided top round bread, drop in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the round braided loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the left arm to pick up the bread loaf with soft surface and the braided top round bread, then place them in the shallow rectangular breadbasket.",
+    "Use the left arm to pick the bread loaf with soft surface and the round braided loaf and place in the breadbasket with woven pattern.",
+    "Place the bread with golden crust and the braided top round bread into the woven shallow breadbasket using the left arm",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and drop them into the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the round braided loaf and drop it into the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the round braided loaf and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the palm-sized braided golden bread and put them in the woven shallow breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode279.json

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

place_bread_basket/franka_randomized_500/instructions/episode31.json

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

place_bread_basket/franka_randomized_500/instructions/episode33.json

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

place_bread_basket/franka_randomized_500/instructions/episode343.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use two arms and set the bread with golden surface color, the golden bread loaf in the plastic breadbasket with mesh sides.",
+    "Pick the rectangular bread soft inside and the bread loaf with bumpy surface and set them in the textured beige breadbasket.",
+    "Take the square loaf of bread and the bread with rough texture then place in the rectangular breadbasket.",
+    "Put the slice-shaped bread and the hand-sized bread block into the beige breadbasket for holding bread using two arms.",
+    "Use the right arm to place the golden crusted bread slice and the bread with rough texture into the plastic breadbasket with mesh sides.",
+    "Take the golden brown loaf-shaped bread and the bread loaf with uneven edges together and place them into the breadbasket with textured sides.",
+    "Lift the square loaf of bread and the light golden brown bread at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Take the bread with firm crust edges and the cuboid bread to the plastic mesh breadbasket",
+    "Pick the brown bread loaf and the hand-sized bread block, place them in the plastic mesh breadbasket.",
+    "Pick up both the square loaf of bread and the bread with rough texture, then place them in the breadbasket for bread storage.",
+    "Pick the soft golden baked bread and the bread with rough texture for the the woven light beige breadbasket",
+    "Simultaneously use the right arm to drop the rectangular bread soft inside and the cuboid bread in the light beige rectangular breadbasket.",
+    "Grab both the slice-shaped bread and the hand-sized bread block with the right arm and place in the light and textured breadbasket.",
+    "Grab both the soft golden baked bread and the light golden brown bread, drop into the plastic breadbasket with mesh sides.",
+    "Simultaneously grab the slice-shaped bread and the bread loaf with bumpy surface using the right arm, then drop them in the plastic mesh breadbasket.",
+    "Lift the slice-shaped bread and the light golden brown bread with two arms, put in the beige breadbasket.",
+    "Shift the golden brown loaf-shaped bread and the hand-sized bread block into the light beige rectangular breadbasket",
+    "Shift the golden crusted bread slice and the bread block with light patches together to the medium rectangular breadbasket.",
+    "Simultaneously grab the bread with golden surface color and the square-shaped bread, drop in the breadbasket for bread storage.",
+    "Move the soft golden baked bread and the bread with rough texture to the beige breadbasket for holding bread",
+    "Grab the slice-shaped bread and the square-shaped bread quickly and drop them into the breadbasket for bread storage.",
+    "Take the bread loaf with square shape and the hand-sized bread block, place them inside the beige breadbasket for holding bread.",
+    "Move the bread loaf with square shape and the bread loaf with uneven edges at once into the rectangular breadbasket.",
+    "Grab two breads the slice-shaped bread and the golden bread loaf and place in the light beige rectangular breadbasket.",
+    "Place the brown bread loaf and the golden bread loaf in the plastic mesh breadbasket using the right arm",
+    "Use both arms to move the soft golden baked bread, the light golden brown bread to the medium rectangular breadbasket.",
+    "Use two arms and set the brown bread loaf, the doughy and soft bread in the textured beige breadbasket.",
+    "Pick the golden crusted bread slice and the golden bread and set them in the plastic mesh breadbasket.",
+    "Take the bread loaf with square shape and the square-shaped bread then place in the breadbasket for bread storage.",
+    "Put the slice-shaped bread and the soft bread into the textured beige breadbasket using two arms.",
+    "Use the right arm to place the bread loaf with square shape and the golden bread loaf into the light beige rectangular breadbasket.",
+    "Take the bread with firm crust edges and the square-shaped bread together and place them into the light beige rectangular breadbasket.",
+    "Lift the golden bread and the soft bread at once with the right arm, then set them in the beige breadbasket.",
+    "Take the bread with firm crust edges and the light golden brown bread to the light and textured breadbasket",
+    "Pick the bread with golden surface color and the bread with rough texture, place them in the plastic breadbasket with mesh sides.",
+    "Pick up both the golden bread and the golden bread, then place them in the light beige rectangular breadbasket.",
+    "Pick the slice-shaped bread and the golden bread loaf for the the plastic mesh breadbasket",
+    "Simultaneously use the right arm to drop the golden brown loaf-shaped bread and the cuboid bread in the rectangular breadbasket.",
+    "Grab both the bread with firm crust edges and the bread loaf with uneven edges with the right arm and place in the breadbasket with textured sides.",
+    "Grab both the slice-shaped bread and the cuboid bread, drop into the light beige rectangular breadbasket.",
+    "Simultaneously grab the golden brown loaf-shaped bread and the bread loaf with uneven edges using the right arm, then drop them in the textured beige breadbasket.",
+    "Lift the slice-shaped bread and the bread loaf with bumpy surface with two arms, put in the beige breadbasket.",
+    "Shift the slice-shaped bread and the bread with rough texture into the textured beige breadbasket",
+    "Shift the golden crusted bread slice and the square-shaped bread together to the medium rectangular breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the bread loaf with bumpy surface, drop in the textured beige breadbasket.",
+    "Move the soft golden baked bread and the doughy and soft bread to the medium rectangular breadbasket",
+    "Grab the bread loaf with square shape and the hand-sized bread block quickly and drop them into the beige breadbasket for holding bread.",
+    "Take the golden crusted bread slice and the bread loaf with uneven edges, place them inside the textured beige breadbasket.",
+    "Move the bread with golden surface color and the light golden brown bread at once into the medium rectangular breadbasket.",
+    "Grab two breads the brown bread loaf and the light golden brown bread and place in the woven light beige breadbasket.",
+    "Place the golden brown loaf-shaped bread and the golden bread loaf in the light and textured breadbasket using the right arm",
+    "Use both arms to move the golden brown loaf-shaped bread, the bread block with light patches to the beige breadbasket.",
+    "Use two arms and set the bread with rounded corners, the bread block with light patches in the medium rectangular breadbasket.",
+    "Pick the square loaf of bread and the bread block with light patches and set them in the plastic mesh breadbasket.",
+    "Take the soft golden baked bread and the bread block with light patches then place in the rectangular breadbasket.",
+    "Put the soft golden baked bread and the bread block with light patches into the medium rectangular breadbasket using two arms.",
+    "Use the right arm to place the bread loaf with square shape and the bread block with light patches into the woven light beige breadbasket.",
+    "Take the slice-shaped bread and the golden bread together and place them into the beige breadbasket for holding bread.",
+    "Lift the square loaf of bread and the bread block with light patches at once with the right arm, then set them in the beige breadbasket for holding bread.",
+    "Take the bread with golden surface color and the bread loaf with uneven edges to the beige breadbasket for holding bread",
+    "Pick the golden brown loaf-shaped bread and the soft bread, place them in the beige breadbasket for holding bread.",
+    "Pick up both the golden bread and the cuboid bread, then place them in the breadbasket with textured sides.",
+    "Pick the rectangular bread soft inside and the soft bread for the the breadbasket for bread storage",
+    "Simultaneously use the right arm to drop the rectangular bread soft inside and the golden bread in the plastic breadbasket with mesh sides.",
+    "Grab both the golden bread and the light golden brown bread with the right arm and place in the beige breadbasket.",
+    "Grab both the bread with firm crust edges and the golden bread loaf, drop into the plastic mesh breadbasket.",
+    "Simultaneously grab the rectangular bread soft inside and the light golden brown bread using the right arm, then drop them in the breadbasket with textured sides.",
+    "Lift the bread with golden surface color and the bread loaf with uneven edges with two arms, put in the beige breadbasket for holding bread.",
+    "Shift the golden brown loaf-shaped bread and the hand-sized bread block into the breadbasket with textured sides",
+    "Shift the bread with firm crust edges and the golden bread together to the medium rectangular breadbasket.",
+    "Simultaneously grab the bread with firm crust edges and the doughy and soft bread, drop in the breadbasket for bread storage.",
+    "Move the bread loaf with square shape and the golden bread loaf to the breadbasket with textured sides",
+    "Grab the golden bread and the bread with rough texture quickly and drop them into the woven light beige breadbasket.",
+    "Take the bread with golden surface color and the golden bread loaf, place them inside the textured beige breadbasket.",
+    "Move the brown bread loaf and the doughy and soft bread at once into the breadbasket for bread storage.",
+    "Grab two breads the bread with firm crust edges and the golden bread and place in the breadbasket for bread storage.",
+    "Place the golden brown loaf-shaped bread and the golden bread loaf in the plastic mesh breadbasket using the right arm",
+    "Use both arms to move the slice-shaped bread, the golden bread loaf to the rectangular breadbasket.",
+    "Use two arms and set the golden crusted bread slice, the light golden brown bread in the breadbasket with textured sides.",
+    "Pick the golden brown loaf-shaped bread and the cuboid bread and set them in the beige breadbasket.",
+    "Take the rectangular bread soft inside and the soft bread then place in the textured beige breadbasket.",
+    "Put the rectangular bread soft inside and the light golden brown bread into the plastic mesh breadbasket using two arms.",
+    "Use the right arm to place the slice-shaped bread and the bread block with light patches into the beige breadbasket.",
+    "Take the bread with rounded corners and the bread with rough texture together and place them into the woven light beige breadbasket.",
+    "Lift the bread with rounded corners and the bread loaf with uneven edges at once with the right arm, then set them in the medium rectangular breadbasket.",
+    "Take the golden bread and the doughy and soft bread to the plastic breadbasket with mesh sides",
+    "Pick the bread loaf with square shape and the hand-sized bread block, place them in the rectangular breadbasket.",
+    "Pick up both the bread loaf with square shape and the bread loaf with bumpy surface, then place them in the beige breadbasket.",
+    "Pick the slice-shaped bread and the bread with rough texture for the the plastic breadbasket with mesh sides",
+    "Simultaneously use the right arm to drop the golden bread and the light golden brown bread in the breadbasket for bread storage.",
+    "Grab both the golden brown loaf-shaped bread and the square-shaped bread with the right arm and place in the plastic breadbasket with mesh sides.",
+    "Grab both the bread with golden surface color and the soft bread, drop into the beige breadbasket for holding bread.",
+    "Simultaneously grab the golden crusted bread slice and the bread loaf with uneven edges using the right arm, then drop them in the plastic mesh breadbasket.",
+    "Lift the square loaf of bread and the bread block with light patches with two arms, put in the light beige rectangular breadbasket.",
+    "Shift the golden bread and the bread loaf with bumpy surface into the beige breadbasket",
+    "Shift the bread with firm crust edges and the bread with rough texture together to the beige breadbasket.",
+    "Simultaneously grab the bread loaf with square shape and the bread block with light patches, drop in the plastic mesh breadbasket.",
+    "Move the golden crusted bread slice and the golden bread to the plastic mesh breadbasket",
+    "Grab the golden bread and the hand-sized bread block quickly and drop them into the light and textured breadbasket.",
+    "Take the rectangular bread soft inside and the hand-sized bread block, place them inside the medium rectangular breadbasket."
+  ],
+  "unseen": [
+    "Grab the small loaf-shaped bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the shallow rectangular breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Pick the bread loaf medium-sized and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop them into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the bread with golden crust into the shallow rectangular breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread with golden crust and place in the breadbasket with woven pattern.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread with golden crust, drop in the woven shallow breadbasket.",
+    "Place the soft rectangular bread loaf and the rectangular bread loaf into the breadbasket with woven pattern using the right arm",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the bread with golden crust and place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the bread loaf with soft surface into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the bread with golden crust and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf medium-sized and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the bread with golden crust into the shallow rectangular breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread loaf with soft surface and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized and the bread with golden crust into the woven shallow breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the bread with golden crust and place them in the breadbasket with woven pattern.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Place the bread loaf medium-sized and the bread loaf with soft surface into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the breadbasket with woven pattern.",
+    "Pick the bread loaf medium-sized and the rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Use the right arm to pick up the small loaf-shaped bread and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Use one arm to grab the small loaf-shaped bread and the bread loaf with soft surface, drop in the breadbasket with woven pattern.",
+    "Place the small loaf-shaped bread and the bread loaf with soft surface into the woven shallow breadbasket using the right arm",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use the right arm to pick the soft rectangular bread loaf and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Pick the small loaf-shaped bread and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Grab the small loaf-shaped bread and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the soft rectangular bread loaf and the rectangular bread loaf, drop in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the bread with golden crust into the shallow rectangular breadbasket using the right arm",
+    "Grab the small loaf-shaped bread and the bread loaf with soft surface and drop it into the woven shallow breadbasket.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use the right arm to pick the small loaf-shaped bread and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Pick the small loaf-shaped bread and the rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and drop them into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust with two arms, place in the shallow rectangular breadbasket.",
+    "Use the right arm to pick up the soft rectangular bread loaf and the bread with golden crust, then place them in the breadbasket with woven pattern.",
+    "Use one arm to grab the soft rectangular bread loaf and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Place the bread loaf medium-sized and the bread with golden crust into the breadbasket with woven pattern using the right arm",
+    "Grab the soft rectangular bread loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Grab the soft rectangular bread loaf and the bread with golden crust and put them in the breadbasket with woven pattern.",
+    "Use the right arm to pick the bread loaf medium-sized and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Pick the soft rectangular bread loaf and the rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Grab the bread loaf medium-sized and the rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf medium-sized and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode365.json

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

place_bread_basket/franka_randomized_500/instructions/episode380.json

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

place_bread_basket/franka_randomized_500/instructions/episode399.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Simultaneously use the dual arm to drop the bread with golden crust and the doughy and soft bread in the medium rectangular breadbasket.",
+    "Shift the golden brown bread and the light golden brown bread into the rectangular breadbasket",
+    "Place the soft doughy bread and the bread loaf with uneven edges in the textured beige breadbasket using the dual arm",
+    "Pick the golden bread loaf with soft inside and the bread loaf with bumpy surface for the the beige breadbasket for holding bread",
+    "Take the round bread with crusty texture and the square-shaped bread, place them inside the medium rectangular breadbasket.",
+    "Pick the bread with golden crust and the cuboid bread and set them in the breadbasket for bread storage.",
+    "Use both arms to move the smooth crusty small bread, the golden bread loaf to the plastic mesh breadbasket.",
+    "Use two arms and set the soft golden bread, the bread loaf with bumpy surface in the beige breadbasket.",
+    "Grab the golden brown bread with braided design and the bread loaf with bumpy surface quickly and drop them into the beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the square-shaped bread then place in the textured beige breadbasket.",
+    "Lift the round bread with braided top and the light golden brown bread with two arms, put in the beige breadbasket.",
+    "Lift the round bread with braided top and the square-shaped bread at once with the dual arm, then set them in the textured beige breadbasket.",
+    "Move the small golden baked bread and the bread loaf with bumpy surface at once into the plastic breadbasket with mesh sides.",
+    "Take the soft doughy bread and the golden bread loaf to the textured beige breadbasket",
+    "Grab both the round bread with crusty texture and the bread block with light patches, drop into the textured beige breadbasket.",
+    "Grab both the small bread and the soft bread with the dual arm and place in the medium rectangular breadbasket.",
+    "Pick the golden brown bread and the golden bread loaf, place them in the breadbasket for bread storage.",
+    "Shift the smooth crusty small bread and the hand-sized bread block together to the light and textured breadbasket.",
+    "Put the round bread with braided top and the bread loaf with uneven edges into the plastic mesh breadbasket using two arms.",
+    "Move the golden bread loaf with soft inside and the bread block with light patches to the textured beige breadbasket",
+    "Grab two breads the golden brown bread with braided design and the square-shaped bread and place in the rectangular breadbasket.",
+    "Simultaneously grab the braided bread loaf and the bread with rough texture, drop in the breadbasket with textured sides.",
+    "Simultaneously grab the soft golden bread and the golden bread using the dual arm, then drop them in the light beige rectangular breadbasket.",
+    "Use the dual arm to place the round bread with crusty texture and the bread block with light patches into the breadbasket with textured sides.",
+    "Pick up both the golden bread loaf with soft inside and the cuboid bread, then place them in the rectangular breadbasket.",
+    "Take the golden brown bread with braided design and the bread loaf with uneven edges together and place them into the breadbasket with textured sides.",
+    "Simultaneously use the dual arm to drop the small bread and the doughy and soft bread in the rectangular breadbasket.",
+    "Shift the bread with golden crust and the light golden brown bread into the textured beige breadbasket",
+    "Place the golden brown bread with braided design and the doughy and soft bread in the rectangular breadbasket using the dual arm",
+    "Pick the smooth crusty small bread and the doughy and soft bread for the the medium rectangular breadbasket",
+    "Take the golden bread loaf with soft inside and the bread block with light patches, place them inside the beige breadbasket.",
+    "Pick the golden brown bread and the golden bread and set them in the plastic breadbasket with mesh sides.",
+    "Use both arms to move the braided bread loaf, the bread loaf with uneven edges to the plastic breadbasket with mesh sides.",
+    "Use two arms and set the golden brown bread with braided design, the bread loaf with uneven edges in the textured beige breadbasket.",
+    "Grab the soft golden bread and the golden bread quickly and drop them into the beige breadbasket.",
+    "Take the bread with golden crust and the golden bread then place in the light and textured breadbasket.",
+    "Lift the golden bread loaf with soft inside and the bread loaf with bumpy surface with two arms, put in the plastic breadbasket with mesh sides.",
+    "Lift the smooth crusty small bread and the golden bread at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Move the bread with golden crust and the bread loaf with uneven edges at once into the plastic breadbasket with mesh sides.",
+    "Take the golden bread loaf with soft inside and the bread block with light patches to the light beige rectangular breadbasket",
+    "Grab both the soft golden bread and the doughy and soft bread, drop into the textured beige breadbasket.",
+    "Grab both the golden brown bread with braided design and the bread with rough texture with the dual arm and place in the plastic breadbasket with mesh sides.",
+    "Pick the smooth crusty small bread and the soft bread, place them in the breadbasket for bread storage.",
+    "Shift the soft golden bread and the bread with rough texture together to the plastic breadbasket with mesh sides.",
+    "Put the bread with golden crust and the cuboid bread into the breadbasket for bread storage using two arms.",
+    "Move the smooth crusty small bread and the bread loaf with bumpy surface to the light beige rectangular breadbasket",
+    "Grab two breads the golden bread loaf with soft inside and the golden bread and place in the beige breadbasket.",
+    "Simultaneously grab the braided bread loaf and the bread block with light patches, drop in the beige breadbasket.",
+    "Simultaneously grab the soft golden bread and the doughy and soft bread using the dual arm, then drop them in the textured beige breadbasket.",
+    "Use the dual arm to place the soft golden bread and the bread loaf with uneven edges into the textured beige breadbasket.",
+    "Pick up both the bread with golden crust and the bread with rough texture, then place them in the textured beige breadbasket.",
+    "Take the golden bread loaf with soft inside and the golden bread loaf together and place them into the plastic mesh breadbasket.",
+    "Simultaneously use the dual arm to drop the smooth crusty small bread and the soft bread in the breadbasket with textured sides.",
+    "Shift the braided bread loaf and the golden bread loaf into the light beige rectangular breadbasket",
+    "Place the round bread with braided top and the light golden brown bread in the beige breadbasket using the dual arm",
+    "Pick the golden bread loaf with soft inside and the soft bread for the the light beige rectangular breadbasket",
+    "Take the round bread with crusty texture and the light golden brown bread, place them inside the woven light beige breadbasket.",
+    "Pick the golden bread loaf with soft inside and the hand-sized bread block and set them in the medium rectangular breadbasket.",
+    "Use both arms to move the soft doughy bread, the bread loaf with uneven edges to the medium rectangular breadbasket.",
+    "Use two arms and set the bread with golden crust, the light golden brown bread in the breadbasket with textured sides.",
+    "Grab the soft golden bread and the bread loaf with uneven edges quickly and drop them into the plastic mesh breadbasket.",
+    "Take the small bread and the cuboid bread then place in the beige breadbasket for holding bread.",
+    "Lift the braided bread loaf and the soft bread with two arms, put in the medium rectangular breadbasket.",
+    "Lift the smooth crusty small bread and the bread loaf with uneven edges at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Move the soft golden bread and the bread loaf with bumpy surface at once into the light beige rectangular breadbasket.",
+    "Take the soft doughy bread and the bread loaf with uneven edges to the light and textured breadbasket",
+    "Grab both the smooth crusty small bread and the cuboid bread, drop into the beige breadbasket.",
+    "Grab both the braided bread loaf and the square-shaped bread with the dual arm and place in the beige breadbasket for holding bread.",
+    "Pick the small bread and the bread block with light patches, place them in the breadbasket for bread storage.",
+    "Shift the golden brown bread and the cuboid bread together to the breadbasket for bread storage.",
+    "Put the smooth crusty small bread and the doughy and soft bread into the light beige rectangular breadbasket using two arms.",
+    "Move the soft doughy bread and the hand-sized bread block to the medium rectangular breadbasket",
+    "Grab two breads the golden brown bread and the golden bread and place in the light beige rectangular breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the golden bread, drop in the light and textured breadbasket.",
+    "Simultaneously grab the smooth crusty small bread and the bread block with light patches using the dual arm, then drop them in the plastic mesh breadbasket.",
+    "Use the dual arm to place the golden bread loaf with soft inside and the soft bread into the medium rectangular breadbasket.",
+    "Pick up both the smooth crusty small bread and the bread with rough texture, then place them in the beige breadbasket for holding bread.",
+    "Take the smooth crusty small bread and the bread with rough texture together and place them into the light beige rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the braided bread loaf and the doughy and soft bread in the breadbasket with textured sides.",
+    "Shift the braided bread loaf and the golden bread into the light and textured breadbasket",
+    "Place the golden brown bread and the doughy and soft bread in the plastic mesh breadbasket using the dual arm",
+    "Pick the golden bread loaf with soft inside and the golden bread loaf for the the breadbasket for bread storage",
+    "Take the round bread with crusty texture and the square-shaped bread, place them inside the woven light beige breadbasket.",
+    "Pick the small golden baked bread and the bread loaf with uneven edges and set them in the breadbasket with textured sides.",
+    "Use both arms to move the small bread, the doughy and soft bread to the beige breadbasket.",
+    "Use two arms and set the soft doughy bread, the bread with rough texture in the plastic breadbasket with mesh sides.",
+    "Grab the bread with golden crust and the bread with rough texture quickly and drop them into the plastic breadbasket with mesh sides.",
+    "Take the golden brown bread with braided design and the bread block with light patches then place in the woven light beige breadbasket.",
+    "Lift the small bread and the cuboid bread with two arms, put in the medium rectangular breadbasket.",
+    "Lift the small bread and the golden bread at once with the dual arm, then set them in the medium rectangular breadbasket.",
+    "Move the smooth crusty small bread and the light golden brown bread at once into the breadbasket for bread storage.",
+    "Take the golden bread loaf with soft inside and the soft bread to the breadbasket for bread storage",
+    "Grab both the braided bread loaf and the soft bread, drop into the breadbasket with textured sides.",
+    "Grab both the soft doughy bread and the bread block with light patches with the dual arm and place in the light and textured breadbasket.",
+    "Pick the golden brown bread and the bread loaf with bumpy surface, place them in the beige breadbasket.",
+    "Shift the round bread with braided top and the cuboid bread together to the beige breadbasket for holding bread.",
+    "Put the soft golden bread and the bread block with light patches into the breadbasket for bread storage using two arms.",
+    "Move the small bread and the cuboid bread to the woven light beige breadbasket",
+    "Grab two breads the soft golden bread and the soft bread and place in the breadbasket with textured sides.",
+    "Simultaneously grab the braided bread loaf and the hand-sized bread block, drop in the textured beige breadbasket."
+  ],
+  "unseen": [
+    "Place the palm-sized braided golden bread and the bread with golden crust into the breadbasket with woven pattern using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread with golden crust, then place them in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the rectangular bread loaf and place in the breadbasket with woven pattern.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Place the braided top round bread and the bread loaf with soft surface into the woven shallow breadbasket using the dual arm",
+    "Grab the round braided loaf and the bread loaf with soft surface with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the bread with golden crust, then place them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the round braided loaf and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Pick the braided top round bread and the bread loaf with soft surface and place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the bread loaf with soft surface and place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread loaf with soft surface and place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the bread loaf with soft surface and drop them into the shallow rectangular breadbasket.",
+    "Place the braided top round bread and the bread loaf with soft surface into the breadbasket with woven pattern using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the round braided loaf and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the rectangular bread loaf with two arms, place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the woven shallow breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the woven shallow breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread loaf with soft surface, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the round braided loaf and the rectangular bread loaf and place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Place the braided top round bread and the bread with golden crust into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust with two arms, place in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the round braided loaf and the bread with golden crust, then place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use one arm to grab the braided top round bread and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the palm-sized braided golden bread and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the round braided loaf and the bread loaf with soft surface and place them in the breadbasket with woven pattern.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop them into the shallow rectangular breadbasket.",
+    "Place the palm-sized braided golden bread and the bread loaf with soft surface into the woven shallow breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Use one arm to grab the palm-sized braided golden bread and the bread with golden crust, drop in the woven shallow breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the bread loaf with soft surface and place in the woven shallow breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the shallow rectangular breadbasket.",
+    "Grab the round braided loaf and the bread loaf with soft surface and drop them into the breadbasket with woven pattern.",
+    "Place the palm-sized braided golden bread and the rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Grab the round braided loaf and the rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread loaf with soft surface and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the round braided loaf and the rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the bread with golden crust and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread with golden crust, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Pick the palm-sized braided golden bread and the bread with golden crust and place them in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and drop them into the breadbasket with woven pattern.",
+    "Place the braided top round bread and the rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Grab the braided top round bread and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the braided top round bread and the bread with golden crust and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the braided top round bread and the bread loaf with soft surface, then place them in the woven shallow breadbasket.",
+    "Grab the palm-sized braided golden bread and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the palm-sized braided golden bread and the rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the braided top round bread and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the round braided loaf and the bread with golden crust and place them in the woven shallow breadbasket.",
+    "Grab the round braided loaf and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the bread with golden crust into the shallow rectangular breadbasket using the dual arm",
+    "Grab the palm-sized braided golden bread and the bread with golden crust with two arms, place in the breadbasket with woven pattern.",
+    "Grab the round braided loaf and the rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the palm-sized braided golden bread and the bread loaf with soft surface, then place them in the shallow rectangular breadbasket.",
+    "Grab the braided top round bread and the rectangular bread loaf and put them in the woven shallow breadbasket.",
+    "Use one arm to grab the braided top round bread and the bread loaf with soft surface, drop in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the round braided loaf and the bread with golden crust and place in the woven shallow breadbasket.",
+    "Pick the round braided loaf and the bread with golden crust and place them in the shallow rectangular breadbasket.",
+    "Grab the palm-sized braided golden bread and the bread with golden crust and drop them into the shallow rectangular breadbasket.",
+    "Place the round braided loaf and the rectangular bread loaf into the woven shallow breadbasket using the dual arm"
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode405.json

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

place_bread_basket/franka_randomized_500/instructions/episode461.json

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

place_bread_basket/franka_randomized_500/instructions/episode465.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the bread with rough texture and the bread with golden surface color at once into the medium rectangular breadbasket.",
+    "Pick up both the bread with rough texture and the soft golden baked bread, then place them in the beige breadbasket.",
+    "Grab both the golden bread and the bread loaf with square shape with the dual arm and place in the breadbasket for bread storage.",
+    "Take the bread with rough texture and the rectangular bread soft inside, place them inside the woven light beige breadbasket.",
+    "Lift the doughy and soft bread and the bread with rounded corners with two arms, put in the medium rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the bread loaf with bumpy surface and the rectangular bread soft inside in the textured beige breadbasket.",
+    "Simultaneously grab the bread loaf with bumpy surface and the brown bread loaf, drop in the beige breadbasket.",
+    "Use two arms and set the soft bread, the bread with rounded corners in the rectangular breadbasket.",
+    "Simultaneously grab the bread with rough texture and the rectangular bread soft inside using the dual arm, then drop them in the breadbasket for bread storage.",
+    "Lift the cuboid bread and the bread with firm crust edges at once with the dual arm, then set them in the woven light beige breadbasket.",
+    "Shift the square-shaped bread and the slice-shaped bread together to the woven light beige breadbasket.",
+    "Use both arms to move the soft bread, the bread with golden surface color to the plastic mesh breadbasket.",
+    "Grab two breads the golden bread and the brown bread loaf and place in the beige breadbasket for holding bread.",
+    "Take the bread loaf with uneven edges and the bread with golden surface color then place in the light beige rectangular breadbasket.",
+    "Move the light golden brown bread and the brown bread loaf to the woven light beige breadbasket",
+    "Take the soft bread and the bread loaf with square shape to the breadbasket with textured sides",
+    "Grab both the cuboid bread and the golden crusted bread slice, drop into the plastic breadbasket with mesh sides.",
+    "Grab the golden bread and the bread loaf with square shape quickly and drop them into the light and textured breadbasket.",
+    "Use the dual arm to place the bread with rough texture and the golden bread into the rectangular breadbasket.",
+    "Take the square-shaped bread and the rectangular bread soft inside together and place them into the textured beige breadbasket.",
+    "Place the bread block with light patches and the golden brown loaf-shaped bread in the plastic mesh breadbasket using the dual arm",
+    "Shift the hand-sized bread block and the slice-shaped bread into the beige breadbasket for holding bread",
+    "Pick the bread loaf with bumpy surface and the bread with golden surface color, place them in the beige breadbasket.",
+    "Pick the soft bread and the bread with rounded corners for the the light and textured breadbasket",
+    "Pick the bread loaf with bumpy surface and the bread with rounded corners and set them in the rectangular breadbasket.",
+    "Put the cuboid bread and the golden bread into the beige breadbasket for holding bread using two arms.",
+    "Move the cuboid bread and the bread with firm crust edges at once into the breadbasket with textured sides.",
+    "Pick up both the bread block with light patches and the brown bread loaf, then place them in the textured beige breadbasket.",
+    "Grab both the bread loaf with bumpy surface and the brown bread loaf with the dual arm and place in the woven light beige breadbasket.",
+    "Take the soft bread and the rectangular bread soft inside, place them inside the plastic mesh breadbasket.",
+    "Lift the bread loaf with bumpy surface and the rectangular bread soft inside with two arms, put in the light beige rectangular breadbasket.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the slice-shaped bread in the breadbasket for bread storage.",
+    "Simultaneously grab the square-shaped bread and the bread with golden surface color, drop in the light and textured breadbasket.",
+    "Use two arms and set the square-shaped bread, the slice-shaped bread in the woven light beige breadbasket.",
+    "Simultaneously grab the soft bread and the golden brown loaf-shaped bread using the dual arm, then drop them in the beige breadbasket.",
+    "Lift the soft bread and the rectangular bread soft inside at once with the dual arm, then set them in the light and textured breadbasket.",
+    "Shift the light golden brown bread and the golden crusted bread slice together to the breadbasket with textured sides.",
+    "Use both arms to move the bread with rough texture, the slice-shaped bread to the light beige rectangular breadbasket.",
+    "Grab two breads the bread block with light patches and the bread with rounded corners and place in the beige breadbasket.",
+    "Take the doughy and soft bread and the slice-shaped bread then place in the textured beige breadbasket.",
+    "Move the cuboid bread and the soft golden baked bread to the textured beige breadbasket",
+    "Take the golden bread and the golden crusted bread slice to the breadbasket with textured sides",
+    "Grab both the bread with rough texture and the golden brown loaf-shaped bread, drop into the light beige rectangular breadbasket.",
+    "Grab the soft bread and the brown bread loaf quickly and drop them into the textured beige breadbasket.",
+    "Use the dual arm to place the light golden brown bread and the bread loaf with square shape into the woven light beige breadbasket.",
+    "Take the golden bread and the rectangular bread soft inside together and place them into the textured beige breadbasket.",
+    "Place the soft bread and the brown bread loaf in the medium rectangular breadbasket using the dual arm",
+    "Shift the bread block with light patches and the brown bread loaf into the beige breadbasket for holding bread",
+    "Pick the soft bread and the golden bread, place them in the medium rectangular breadbasket.",
+    "Pick the doughy and soft bread and the brown bread loaf for the the plastic mesh breadbasket",
+    "Pick the hand-sized bread block and the bread with rounded corners and set them in the beige breadbasket for holding bread.",
+    "Put the golden bread loaf and the golden brown loaf-shaped bread into the medium rectangular breadbasket using two arms.",
+    "Move the bread with rough texture and the soft golden baked bread at once into the textured beige breadbasket.",
+    "Pick up both the bread loaf with uneven edges and the golden crusted bread slice, then place them in the plastic breadbasket with mesh sides.",
+    "Grab both the cuboid bread and the bread with rounded corners with the dual arm and place in the light beige rectangular breadbasket.",
+    "Take the bread loaf with uneven edges and the rectangular bread soft inside, place them inside the plastic breadbasket with mesh sides.",
+    "Lift the cuboid bread and the golden bread with two arms, put in the breadbasket for bread storage.",
+    "Simultaneously use the dual arm to drop the bread block with light patches and the golden bread in the beige breadbasket.",
+    "Simultaneously grab the soft bread and the square loaf of bread, drop in the textured beige breadbasket.",
+    "Use two arms and set the golden bread, the golden bread in the light beige rectangular breadbasket.",
+    "Simultaneously grab the bread block with light patches and the soft golden baked bread using the dual arm, then drop them in the light and textured breadbasket.",
+    "Lift the bread with rough texture and the bread with firm crust edges at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Shift the square-shaped bread and the slice-shaped bread together to the light beige rectangular breadbasket.",
+    "Use both arms to move the light golden brown bread, the soft golden baked bread to the medium rectangular breadbasket.",
+    "Grab two breads the light golden brown bread and the soft golden baked bread and place in the breadbasket with textured sides.",
+    "Take the bread with rough texture and the square loaf of bread then place in the plastic breadbasket with mesh sides.",
+    "Move the square-shaped bread and the bread loaf with square shape to the breadbasket for bread storage",
+    "Take the hand-sized bread block and the bread with rounded corners to the breadbasket with textured sides",
+    "Grab both the golden bread loaf and the golden bread, drop into the beige breadbasket.",
+    "Grab the soft bread and the bread with rounded corners quickly and drop them into the light and textured breadbasket.",
+    "Use the dual arm to place the bread with rough texture and the golden brown loaf-shaped bread into the breadbasket for bread storage.",
+    "Take the golden bread and the bread loaf with square shape together and place them into the beige breadbasket for holding bread.",
+    "Place the bread with rough texture and the square loaf of bread in the light beige rectangular breadbasket using the dual arm",
+    "Shift the doughy and soft bread and the rectangular bread soft inside into the beige breadbasket",
+    "Pick the bread block with light patches and the bread loaf with square shape, place them in the rectangular breadbasket.",
+    "Pick the bread with rough texture and the golden brown loaf-shaped bread for the the breadbasket for bread storage",
+    "Pick the bread with rough texture and the bread loaf with square shape and set them in the textured beige breadbasket.",
+    "Put the soft bread and the bread loaf with square shape into the light and textured breadbasket using two arms.",
+    "Move the hand-sized bread block and the bread loaf with square shape at once into the light beige rectangular breadbasket.",
+    "Pick up both the soft bread and the bread with firm crust edges, then place them in the beige breadbasket for holding bread.",
+    "Grab both the bread loaf with bumpy surface and the rectangular bread soft inside with the dual arm and place in the light beige rectangular breadbasket.",
+    "Take the light golden brown bread and the bread with rounded corners, place them inside the medium rectangular breadbasket.",
+    "Lift the golden bread loaf and the bread with firm crust edges with two arms, put in the breadbasket with textured sides.",
+    "Simultaneously use the dual arm to drop the golden bread loaf and the slice-shaped bread in the light and textured breadbasket.",
+    "Simultaneously grab the light golden brown bread and the slice-shaped bread, drop in the textured beige breadbasket.",
+    "Use two arms and set the bread with rough texture, the bread loaf with square shape in the medium rectangular breadbasket.",
+    "Simultaneously grab the bread with rough texture and the golden brown loaf-shaped bread using the dual arm, then drop them in the textured beige breadbasket.",
+    "Lift the light golden brown bread and the bread with firm crust edges at once with the dual arm, then set them in the plastic breadbasket with mesh sides.",
+    "Shift the golden bread loaf and the golden brown loaf-shaped bread together to the plastic mesh breadbasket.",
+    "Use both arms to move the doughy and soft bread, the square loaf of bread to the plastic breadbasket with mesh sides.",
+    "Grab two breads the cuboid bread and the slice-shaped bread and place in the beige breadbasket for holding bread.",
+    "Take the golden bread loaf and the bread loaf with square shape then place in the beige breadbasket for holding bread.",
+    "Move the light golden brown bread and the bread with rounded corners to the light and textured breadbasket",
+    "Take the light golden brown bread and the rectangular bread soft inside to the woven light beige breadbasket",
+    "Grab both the golden bread and the bread loaf with square shape, drop into the plastic breadbasket with mesh sides.",
+    "Grab the square-shaped bread and the bread loaf with square shape quickly and drop them into the textured beige breadbasket.",
+    "Use the dual arm to place the bread loaf with bumpy surface and the golden brown loaf-shaped bread into the plastic breadbasket with mesh sides.",
+    "Take the soft bread and the golden bread together and place them into the beige breadbasket for holding bread.",
+    "Place the square-shaped bread and the golden brown loaf-shaped bread in the woven light beige breadbasket using the dual arm",
+    "Shift the bread loaf with bumpy surface and the golden brown loaf-shaped bread into the breadbasket with textured sides"
+  ],
+  "unseen": [
+    "Pick the bread loaf with soft surface and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the bread loaf medium-sized and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the small loaf-shaped bread, then place them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the small loaf-shaped bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the bread with golden crust and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized and drop them into the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the small loaf-shaped bread, then place them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the small loaf-shaped bread into the breadbasket with woven pattern using the dual arm",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the small loaf-shaped bread and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the rectangular bread loaf and the soft rectangular bread loaf and place in the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf medium-sized, drop in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the soft rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the small loaf-shaped bread into the shallow rectangular breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the soft rectangular bread loaf and put them in the shallow rectangular breadbasket.",
+    "Pick the rectangular bread loaf and the small loaf-shaped bread and place them in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread with golden crust and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf medium-sized, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and drop them into the woven shallow breadbasket.",
+    "Grab the rectangular bread loaf and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the soft rectangular bread loaf into the woven shallow breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the soft rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the small loaf-shaped bread and place in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread with golden crust and the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the bread loaf medium-sized into the woven shallow breadbasket using the dual arm",
+    "Grab the rectangular bread loaf and the bread loaf medium-sized and put them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread loaf with soft surface and the bread loaf medium-sized and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the small loaf-shaped bread with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the small loaf-shaped bread, then place them in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the small loaf-shaped bread into the woven shallow breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and put them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the soft rectangular bread loaf and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread loaf with soft surface and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and drop it into the breadbasket with woven pattern.",
+    "Use one arm to grab the bread loaf with soft surface and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the small loaf-shaped bread and drop them into the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the bread loaf with soft surface and the soft rectangular bread loaf, then place them in the shallow rectangular breadbasket.",
+    "Place the rectangular bread loaf and the bread loaf medium-sized into the shallow rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the bread loaf medium-sized and put them in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf medium-sized and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread with golden crust and the bread loaf medium-sized and place in the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the small loaf-shaped bread and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the soft rectangular bread loaf, drop in the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread loaf medium-sized with two arms, place in the breadbasket with woven pattern.",
+    "Use the dual arm to pick up the rectangular bread loaf and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Place the bread with golden crust and the bread loaf medium-sized into the woven shallow breadbasket using the dual arm",
+    "Grab the bread with golden crust and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Pick the bread with golden crust and the small loaf-shaped bread and place them in the breadbasket with woven pattern.",
+    "Use the dual arm to pick the bread with golden crust and the small loaf-shaped bread and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the rectangular bread loaf and the soft rectangular bread loaf, drop in the woven shallow breadbasket.",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread and drop them into the breadbasket with woven pattern.",
+    "Grab the rectangular bread loaf and the bread loaf medium-sized with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the small loaf-shaped bread, then place them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the bread loaf medium-sized into the woven shallow breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread and put them in the woven shallow breadbasket.",
+    "Pick the bread loaf with soft surface and the bread loaf medium-sized and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread with golden crust and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread and drop it into the woven shallow breadbasket.",
+    "Use one arm to grab the bread with golden crust and the small loaf-shaped bread, drop in the shallow rectangular breadbasket.",
+    "Grab the bread loaf with soft surface and the soft rectangular bread loaf and drop them into the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the soft rectangular bread loaf with two arms, place in the woven shallow breadbasket.",
+    "Use the dual arm to pick up the rectangular bread loaf and the soft rectangular bread loaf, then place them in the breadbasket with woven pattern.",
+    "Place the rectangular bread loaf and the soft rectangular bread loaf into the shallow rectangular breadbasket using the dual arm",
+    "Grab the bread loaf with soft surface and the small loaf-shaped bread and put them in the shallow rectangular breadbasket.",
+    "Pick the bread loaf with soft surface and the soft rectangular bread loaf and place them in the woven shallow breadbasket.",
+    "Use the dual arm to pick the bread loaf with soft surface and the soft rectangular bread loaf and place in the shallow rectangular breadbasket.",
+    "Grab the rectangular bread loaf and the soft rectangular bread loaf and drop it into the shallow rectangular breadbasket.",
+    "Use one arm to grab the bread with golden crust and the bread loaf medium-sized, drop in the shallow rectangular breadbasket.",
+    "Grab the bread with golden crust and the bread loaf medium-sized and drop them into the breadbasket with woven pattern.",
+    "Grab the bread with golden crust and the bread loaf medium-sized with two arms, place in the shallow rectangular breadbasket.",
+    "Use the dual arm to pick up the bread with golden crust and the bread loaf medium-sized, then place them in the shallow rectangular breadbasket.",
+    "Place the bread loaf with soft surface and the soft rectangular bread loaf into the breadbasket with woven pattern using the dual arm",
+    "Grab the rectangular bread loaf and the small loaf-shaped bread and put them in the breadbasket with woven pattern.",
+    "Pick the rectangular bread loaf and the soft rectangular bread loaf and place them in the breadbasket with woven pattern."
+  ]
+}

place_bread_basket/franka_randomized_500/instructions/episode51.json

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