Add files using upload-large-folder tool

place_a2b_right/ur5_randomized_500/instructions/episode100.json

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+{
+  "seen": [
+    "Set the mouse with two buttons and wheel on the right side of the playing cards box with gold text.",
+    "Move the mouse with two buttons and wheel and place it carefully to the rectangular box for card storage's right.",
+    "Place the dark mouse with logo on top directly on the smooth black cards container's right.",
+    "Using the right arm, position the smooth plastic mouse to the right of the box with cards inside.",
+    "Use the right arm to position the palm-fitting mouse to the smooth black cards container's right.",
+    "Move the mouse with two buttons and wheel to the right beside the box with cards inside.",
+    "Place the gray mouse with smooth surface using the right arm at the cardboard playing cards box's right",
+    "Move the smooth plastic mouse and place it to the compact box for playing cards's right.",
+    "Grab the small computer mouse using the right arm, then move it to the palm-sized box for playing cards's right.",
+    "Take the ergonomic mouse with the right arm and position it right of the palm-sized box for playing cards.",
+    "Put the ergonomic mouse exactly to the right of the playing cards box with gold text.",
+    "Place the rounded gray mouse on the right of the small black box with cards.",
+    "Use the right arm to place the small computer mouse right of the compact box for playing cards.",
+    "Position the mouse with sleek design directly to the right of the palm-sized box for playing cards.",
+    "With the right arm, move the palm-fitting mouse to the cardboard playing cards box's right.",
+    "Grab the small computer mouse using the right arm and set it to the small black box with cards's right.",
+    "Grab the ergonomic mouse with the right arm and place it right of the small black box with cards.",
+    "Position the ergonomic mouse to the right of the black playing cards box.",
+    "Using the right arm, position the ergonomic mouse to the right of the black playing cards box.",
+    "Move the compact oval-shaped mouse to the black playing cards box's right position.",
+    "Set the dark mouse with logo on top neatly on the right side of the playing cards box with gold text.",
+    "Set the rounded gray mouse on the playing cards box with gold text's right side",
+    "Set the dark mouse with logo on top using the right arm at the palm-sized box for playing cards's right",
+    "Put the mouse with two buttons and wheel using the right arm on the right of the cardboard playing cards box.",
+    "Move the dark gray mouse to the compact box for playing cards's right using the right arm",
+    "Shift the dark mouse with logo on top to the right of the smooth black cards container",
+    "Set the small computer mouse carefully on the black box with rectangular shape's right side.",
+    "Move the mouse for cursor control using the right arm to the playing cards box with gold text's right position.",
+    "Stick the mouse with two buttons and wheel on the palm-sized box for playing cards's right side",
+    "Make sure the gray mouse with smooth surface is placed right of the compact box for playing cards.",
+    "Position the gray mouse with smooth surface to the right of the box holding playing cards.",
+    "Set the dark gray mouse down on the box holding playing cards's right side.",
+    "Put the mouse for cursor control at the right of the box with cards inside",
+    "Position the mouse with sleek design to the box holding playing cards's right using the right arm",
+    "Use the right arm to set the mouse with two buttons and wheel right of the small black box with cards.",
+    "Move the mouse with two buttons and wheel right of the rectangle-shaped cards box with the right arm",
+    "Ensure the compact oval-shaped mouse is placed on the right of the small black box with cards.",
+    "Ensure the dark mouse with logo on top is on the right of the box with cards inside.",
+    "Bring the mouse for cursor control to the right position of the box with cards inside.",
+    "Set the rounded gray mouse right next to the small black box with cards's right side.",
+    "Grasp the compact oval-shaped mouse with the right arm and move it to the rectangle-shaped cards box's right.",
+    "Direct the right arm to place the compact oval-shaped mouse right of the compact box for playing cards.",
+    "Grab the smooth plastic mouse using the right arm and place it right of the smooth black cards container.",
+    "Use the right arm to set the dark mouse with logo on top right of the cardboard playing cards box.",
+    "Use the right arm to place the mouse with sleek design right of the box holding playing cards.",
+    "Set the small computer mouse properly on the right of the black playing cards box.",
+    "Place the small computer mouse precisely to the right of the black playing cards box.",
+    "Move the palm-fitting mouse and set it to the small black box with cards's right.",
+    "Position the smooth plastic mouse at the right side of the compact box for playing cards",
+    "Grab the dark mouse with logo on top with the right arm and set right of the box holding playing cards.",
+    "Set the palm-fitting mouse on the right side of the box with cards inside.",
+    "Move the ergonomic mouse and place it carefully to the black box with rectangular shape's right.",
+    "Place the dark gray mouse directly on the box with cards inside's right.",
+    "Using the right arm, position the dark gray mouse to the right of the small black box with cards.",
+    "Use the right arm to position the dark gray mouse to the box holding playing cards's right.",
+    "Move the mouse with sleek design to the right beside the box holding playing cards.",
+    "Place the smooth plastic mouse using the right arm at the smooth black cards container's right",
+    "Move the ergonomic mouse and place it to the rectangular box for card storage's right.",
+    "Grab the dark mouse with logo on top using the right arm, then move it to the playing cards box with gold text's right.",
+    "Take the rounded gray mouse with the right arm and position it right of the rectangular box for card storage.",
+    "Put the mouse with sleek design exactly to the right of the rectangular box for card storage.",
+    "Place the small computer mouse on the right of the box with cards inside.",
+    "Use the right arm to place the ergonomic mouse right of the box holding playing cards.",
+    "Position the dark mouse with logo on top directly to the right of the box holding playing cards.",
+    "With the right arm, move the mouse with sleek design to the palm-sized box for playing cards's right.",
+    "Grab the mouse with sleek design using the right arm and set it to the compact box for playing cards's right.",
+    "Grab the dark gray mouse with the right arm and place it right of the compact box for playing cards.",
+    "Position the dark mouse with logo on top to the right of the rectangle-shaped cards box.",
+    "Using the right arm, position the gray mouse with smooth surface to the right of the cardboard playing cards box.",
+    "Move the dark gray mouse to the black playing cards box's right position.",
+    "Set the rounded gray mouse neatly on the right side of the playing cards box with gold text.",
+    "Set the dark mouse with logo on top on the compact box for playing cards's right side",
+    "Set the mouse with sleek design using the right arm at the smooth black cards container's right",
+    "Put the mouse with two buttons and wheel using the right arm on the right of the small black box with cards.",
+    "Move the smooth plastic mouse to the black box with rectangular shape's right using the right arm",
+    "Shift the palm-fitting mouse to the right of the black box with rectangular shape",
+    "Set the dark mouse with logo on top carefully on the smooth black cards container's right side.",
+    "Move the palm-fitting mouse using the right arm to the black box with rectangular shape's right position.",
+    "Stick the smooth plastic mouse on the playing cards box with gold text's right side",
+    "Make sure the rounded gray mouse is placed right of the box with cards inside.",
+    "Position the dark gray mouse to the right of the playing cards box with gold text.",
+    "Set the mouse with two buttons and wheel down on the small black box with cards's right side.",
+    "Put the palm-fitting mouse at the right of the compact box for playing cards",
+    "Position the dark gray mouse to the box with cards inside's right using the right arm",
+    "Use the right arm to set the ergonomic mouse right of the box with cards inside.",
+    "Move the rounded gray mouse right of the black playing cards box with the right arm",
+    "Ensure the compact oval-shaped mouse is placed on the right of the compact box for playing cards.",
+    "Ensure the rounded gray mouse is on the right of the rectangular box for card storage.",
+    "Bring the rounded gray mouse to the right position of the playing cards box with gold text.",
+    "Set the smooth plastic mouse right next to the playing cards box with gold text's right side.",
+    "Grasp the mouse with two buttons and wheel with the right arm and move it to the smooth black cards container's right.",
+    "Direct the right arm to place the mouse for cursor control right of the compact box for playing cards.",
+    "Grab the ergonomic mouse using the right arm and place it right of the black box with rectangular shape.",
+    "Use the right arm to set the palm-fitting mouse right of the playing cards box with gold text.",
+    "Use the right arm to place the smooth plastic mouse right of the box holding playing cards.",
+    "Set the small computer mouse properly on the right of the compact box for playing cards.",
+    "Place the small computer mouse precisely to the right of the palm-sized box for playing cards.",
+    "Move the rounded gray mouse and set it to the rectangle-shaped cards box's right.",
+    "Position the mouse with sleek design at the right side of the box with cards inside",
+    "Grab the dark mouse with logo on top with the right arm and set right of the black box with rectangular shape."
+  ],
+  "unseen": [
+    "Grab the hand-sized wireless mouse and place it right of the gold text on playing cards box.",
+    "Set the mouse with scroll wheel to the right of the black box with smooth surface.",
+    "Put the hand-sized wireless mouse to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the gold text on playing cards box.",
+    "Place the flat-bottomed mouse on the black box with smooth surface's right side.",
+    "Put the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the black box with smooth surface",
+    "Place the hand-sized wireless mouse on the right of the black box with smooth surface.",
+    "Place the hand-sized wireless mouse rightward of the black box with smooth surface using the right arm",
+    "Set the hand-sized wireless mouse on the right of the hard black box for card deck.",
+    "Grab the hand-sized wireless mouse and place it right of the black box with smooth surface.",
+    "Set the hand-sized wireless mouse to the right of the hard black box for card deck.",
+    "Put the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the black box with smooth surface.",
+    "Place the hand-sized wireless mouse on the hard black box for card deck's right side.",
+    "Put the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the black box with smooth surface",
+    "Place the flat-bottomed mouse on the right of the hard black box for card deck.",
+    "Place the flat-bottomed mouse rightward of the gold text on playing cards box using the right arm",
+    "Set the mouse with scroll wheel on the right of the black box with smooth surface.",
+    "Grab the flat-bottomed mouse and place it right of the hard black box for card deck.",
+    "Set the mouse with scroll wheel to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the black box with smooth surface.",
+    "Put the flat-bottomed mouse to the right of the hard black box for card deck.",
+    "Place the flat-bottomed mouse on the black box with smooth surface's right side.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck",
+    "Place the flat-bottomed mouse on the right of the gold text on playing cards box.",
+    "Place the flat-bottomed mouse rightward of the black box with smooth surface using the right arm",
+    "Set the flat-bottomed mouse on the right of the hard black box for card deck.",
+    "Grab the hand-sized wireless mouse and place it right of the hard black box for card deck.",
+    "Set the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the black box with smooth surface.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck.",
+    "Place the hand-sized wireless mouse on the black box with smooth surface's right side.",
+    "Put the flat-bottomed mouse to the right of the hard black box for card deck.",
+    "Put the mouse with scroll wheel to the right of the gold text on playing cards box",
+    "Place the hand-sized wireless mouse on the right of the hard black box for card deck.",
+    "Place the hand-sized wireless mouse rightward of the gold text on playing cards box using the right arm",
+    "Set the hand-sized wireless mouse on the right of the gold text on playing cards box.",
+    "Grab the hand-sized wireless mouse and place it right of the gold text on playing cards box.",
+    "Set the mouse with scroll wheel to the right of the gold text on playing cards box.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck.",
+    "Put the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Place the flat-bottomed mouse on the black box with smooth surface's right side.",
+    "Put the mouse with scroll wheel to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the gold text on playing cards box",
+    "Place the mouse with scroll wheel on the right of the hard black box for card deck.",
+    "Place the mouse with scroll wheel rightward of the black box with smooth surface using the right arm",
+    "Set the hand-sized wireless mouse on the right of the black box with smooth surface.",
+    "Grab the mouse with scroll wheel and place it right of the hard black box for card deck.",
+    "Set the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the black box with smooth surface.",
+    "Put the hand-sized wireless mouse to the right of the hard black box for card deck.",
+    "Place the flat-bottomed mouse on the gold text on playing cards box's right side.",
+    "Put the hand-sized wireless mouse to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the hard black box for card deck",
+    "Place the hand-sized wireless mouse on the right of the hard black box for card deck.",
+    "Place the mouse with scroll wheel rightward of the hard black box for card deck using the right arm",
+    "Set the flat-bottomed mouse on the right of the gold text on playing cards box.",
+    "Grab the mouse with scroll wheel and place it right of the hard black box for card deck.",
+    "Set the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the black box with smooth surface.",
+    "Put the hand-sized wireless mouse to the right of the hard black box for card deck.",
+    "Place the mouse with scroll wheel on the gold text on playing cards box's right side.",
+    "Put the mouse with scroll wheel to the right of the black box with smooth surface.",
+    "Put the mouse with scroll wheel to the right of the black box with smooth surface",
+    "Place the hand-sized wireless mouse on the right of the black box with smooth surface.",
+    "Place the mouse with scroll wheel rightward of the black box with smooth surface using the right arm",
+    "Set the mouse with scroll wheel on the right of the gold text on playing cards box.",
+    "Grab the flat-bottomed mouse and place it right of the gold text on playing cards box.",
+    "Set the hand-sized wireless mouse to the right of the hard black box for card deck.",
+    "Put the mouse with scroll wheel to the right of the gold text on playing cards box.",
+    "Put the hand-sized wireless mouse to the right of the hard black box for card deck.",
+    "Place the flat-bottomed mouse on the gold text on playing cards box's right side.",
+    "Put the hand-sized wireless mouse to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the black box with smooth surface",
+    "Place the hand-sized wireless mouse on the right of the black box with smooth surface.",
+    "Place the flat-bottomed mouse rightward of the hard black box for card deck using the right arm",
+    "Set the flat-bottomed mouse on the right of the hard black box for card deck.",
+    "Grab the flat-bottomed mouse and place it right of the black box with smooth surface.",
+    "Set the mouse with scroll wheel to the right of the gold text on playing cards box.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck.",
+    "Put the mouse with scroll wheel to the right of the black box with smooth surface.",
+    "Place the hand-sized wireless mouse on the gold text on playing cards box's right side.",
+    "Put the hand-sized wireless mouse to the right of the black box with smooth surface.",
+    "Put the mouse with scroll wheel to the right of the gold text on playing cards box",
+    "Place the flat-bottomed mouse on the right of the gold text on playing cards box.",
+    "Place the flat-bottomed mouse rightward of the gold text on playing cards box using the right arm",
+    "Set the hand-sized wireless mouse on the right of the black box with smooth surface.",
+    "Grab the flat-bottomed mouse and place it right of the gold text on playing cards box.",
+    "Set the flat-bottomed mouse to the right of the gold text on playing cards box.",
+    "Put the flat-bottomed mouse to the right of the hard black box for card deck.",
+    "Put the hand-sized wireless mouse to the right of the gold text on playing cards box.",
+    "Place the flat-bottomed mouse on the gold text on playing cards box's right side.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck.",
+    "Put the mouse with scroll wheel to the right of the hard black box for card deck",
+    "Place the flat-bottomed mouse on the right of the black box with smooth surface.",
+    "Place the hand-sized wireless mouse rightward of the hard black box for card deck using the right arm",
+    "Set the flat-bottomed mouse on the right of the black box with smooth surface."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode103.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the smooth loaf with rounded edges properly on the right of the white dome bell.",
+    "Move the light brown bread with ridges and place it carefully to the bell with black flat base's right.",
+    "Use the left arm to position the light brown loaf with smooth sides to the bell with black flat base's right.",
+    "Use the left arm to place the bread with split top right of the bell shaped like half-circle dome.",
+    "Grab the small loaf with curved top with the left arm and set right of the plastic and metal bell.",
+    "Set the bread with warm golden color down on the plastic and metal bell's right side.",
+    "Grasp the soft brown bread with the left arm and move it to the bell with metallic top and plastic base's right.",
+    "Move the bread with golden-brown crust to the rounded bell with flat black part's right using the left arm",
+    "With the left arm, move the brown loaf to the plastic and metal bell's right.",
+    "Make sure the bread with warm golden color is placed right of the white bell with black bottom.",
+    "Bring the bread with split top to the right position of the compact tabletop bell.",
+    "Use the left arm to set the bread with warm golden color right of the simple hand bell with black stand.",
+    "Position the bread with warm golden color directly to the right of the compact tabletop bell.",
+    "Position the smooth loaf with rounded edges to the white dome bell's right using the left arm",
+    "Set the light brown loaf with smooth sides right next to the bell shaped like half-circle dome's right side.",
+    "Grab the small golden brown bread using the left arm, then move it to the white and black colored bell's right.",
+    "Place the brown loaf using the left arm at the small desk bell for tapping's right",
+    "Position the small golden brown bread at the right side of the simple hand bell with black stand",
+    "Position the golden bread loaf to the right of the bell with black flat base.",
+    "Move the light brown loaf with smooth sides right of the rounded bell with flat black part with the left arm",
+    "Shift the brown loaf to the right of the compact tabletop bell",
+    "Position the small golden brown bread to the right of the white bell.",
+    "Move the bread with golden-brown crust to the right beside the bell with metallic top and plastic base.",
+    "Move the hand-sized oval loaf and set it to the simple hand bell with black stand's right.",
+    "Grab the smooth loaf with rounded edges using the left arm and set it to the rounded bell with flat black part's right.",
+    "Put the bread with golden-brown crust exactly to the right of the bell shaped like half-circle dome.",
+    "Set the hand-sized oval loaf using the left arm at the white bell's right",
+    "Stick the hand-sized oval loaf on the white bell's right side",
+    "Put the bread with warm golden color at the right of the bell shaped like half-circle dome",
+    "Set the soft brown bread neatly on the right side of the plastic and metal bell.",
+    "Put the light brown bread with ridges using the left arm on the right of the rounded bell with flat black part.",
+    "Ensure the bread with golden-brown crust is placed on the right of the small desk bell for tapping.",
+    "Using the left arm, position the bread with split top to the right of the rounded bell with flat black part.",
+    "Move the soft brown bread using the left arm to the simple hand bell with black stand's right position.",
+    "Set the small golden brown bread on the right side of the white and black colored bell.",
+    "Set the small loaf with curved top on the simple hand bell with black stand's right side",
+    "Move the small golden brown bread to the plastic and metal bell's right position.",
+    "Move the brown loaf and place it to the rounded bell with flat black part's right.",
+    "Direct the left arm to place the bread with split top right of the simple hand bell with black stand.",
+    "Place the bread with golden-brown crust precisely to the right of the white bell with black bottom.",
+    "Use the left arm to place the hand-sized oval loaf right of the small desk bell for tapping.",
+    "Set the soft brown bread carefully on the compact tabletop bell's right side.",
+    "Grab the bread with golden-brown crust with the left arm and place it right of the small desk bell for tapping.",
+    "Use the left arm to set the smooth loaf with rounded edges right of the white bell.",
+    "Place the soft brown bread on the right of the compact tabletop bell.",
+    "Ensure the hand-sized oval loaf is on the right of the white bell with black bottom.",
+    "Using the left arm, position the bread with golden-brown crust to the right of the white and black colored bell.",
+    "Grab the light brown bread with ridges using the left arm and place it right of the white bell with black bottom.",
+    "Take the bread with split top with the left arm and position it right of the white bell.",
+    "Place the bread with warm golden color directly on the simple hand bell with black stand's right.",
+    "Set the light brown loaf with smooth sides properly on the right of the white bell with black bottom.",
+    "Move the brown loaf and place it carefully to the rounded bell with flat black part's right.",
+    "Use the left arm to position the bread with split top to the bell shaped like half-circle dome's right.",
+    "Use the left arm to place the brown loaf right of the white bell.",
+    "Grab the light brown loaf with smooth sides with the left arm and set right of the bell with black flat base.",
+    "Set the light brown loaf with smooth sides down on the white and black colored bell's right side.",
+    "Grasp the light brown loaf with smooth sides with the left arm and move it to the bell with metallic top and plastic base's right.",
+    "Move the golden bread loaf to the compact tabletop bell's right using the left arm",
+    "With the left arm, move the bread with split top to the white bell with black bottom's right.",
+    "Make sure the bread with warm golden color is placed right of the plastic and metal bell.",
+    "Bring the bread with warm golden color to the right position of the small desk bell for tapping.",
+    "Use the left arm to set the small loaf with curved top right of the white dome bell.",
+    "Position the bread with split top directly to the right of the small desk bell for tapping.",
+    "Position the small loaf with curved top to the plastic and metal bell's right using the left arm",
+    "Set the golden bread loaf right next to the bell with black flat base's right side.",
+    "Grab the smooth loaf with rounded edges using the left arm, then move it to the white dome bell's right.",
+    "Place the light brown loaf with smooth sides using the left arm at the rounded bell with flat black part's right",
+    "Position the small golden brown bread at the right side of the plastic and metal bell",
+    "Position the light brown loaf with smooth sides to the right of the white and black colored bell.",
+    "Move the small loaf with curved top right of the plastic and metal bell with the left arm",
+    "Shift the small golden brown bread to the right of the white dome bell",
+    "Position the light brown loaf with smooth sides to the right of the bell shaped like half-circle dome.",
+    "Move the small golden brown bread to the right beside the small desk bell for tapping.",
+    "Move the smooth loaf with rounded edges and set it to the white bell's right.",
+    "Grab the small loaf with curved top using the left arm and set it to the bell with metallic top and plastic base's right.",
+    "Put the small loaf with curved top exactly to the right of the white bell.",
+    "Set the bread with golden-brown crust using the left arm at the bell shaped like half-circle dome's right",
+    "Stick the small loaf with curved top on the bell with black flat base's right side",
+    "Put the bread with golden-brown crust at the right of the small desk bell for tapping",
+    "Set the light brown bread with ridges neatly on the right side of the compact tabletop bell.",
+    "Put the soft brown bread using the left arm on the right of the white bell.",
+    "Ensure the soft brown bread is placed on the right of the white dome bell.",
+    "Using the left arm, position the light brown bread with ridges to the right of the white dome bell.",
+    "Move the smooth loaf with rounded edges using the left arm to the compact tabletop bell's right position.",
+    "Set the smooth loaf with rounded edges on the right side of the bell with metallic top and plastic base.",
+    "Set the bread with golden-brown crust on the small desk bell for tapping's right side",
+    "Move the small golden brown bread to the white and black colored bell's right position.",
+    "Move the brown loaf and place it to the white dome bell's right.",
+    "Direct the left arm to place the bread with warm golden color right of the rounded bell with flat black part.",
+    "Place the hand-sized oval loaf precisely to the right of the compact tabletop bell.",
+    "Use the left arm to place the soft brown bread right of the white bell.",
+    "Set the small loaf with curved top carefully on the small desk bell for tapping's right side.",
+    "Grab the light brown bread with ridges with the left arm and place it right of the bell with metallic top and plastic base.",
+    "Use the left arm to set the light brown bread with ridges right of the white dome bell.",
+    "Place the light brown bread with ridges on the right of the white dome bell.",
+    "Ensure the hand-sized oval loaf is on the right of the white bell.",
+    "Using the left arm, position the bread with split top to the right of the small desk bell for tapping.",
+    "Grab the small golden brown bread using the left arm and place it right of the white bell with black bottom.",
+    "Take the bread with split top with the left arm and position it right of the white bell.",
+    "Place the brown loaf directly on the small desk bell for tapping's right."
+  ],
+  "unseen": [
+    "Grab the oval bread and place it right of the lightweight bell with smooth surface.",
+    "Put the oval-shaped soft bread to the right of the smooth metal bell.",
+    "Place the oval-shaped soft bread rightward of the medium-sized bell using the left arm",
+    "Put the oval bread to the right of the medium-sized bell",
+    "Place the oval bread on the right of the smooth metal bell.",
+    "Set the oval-shaped soft bread to the right of the medium-sized bell.",
+    "Put the oval-shaped soft bread to the right of the medium-sized bell.",
+    "Put the oval-shaped soft bread to the right of the lightweight bell with smooth surface.",
+    "Set the oval-shaped soft bread on the right of the lightweight bell with smooth surface.",
+    "Place the rounded oval bread on the lightweight bell with smooth surface's right side.",
+    "Grab the rounded oval bread and place it right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Place the oval bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the rounded oval bread to the right of the smooth metal bell",
+    "Place the rounded oval bread on the right of the lightweight bell with smooth surface.",
+    "Set the rounded oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the smooth metal bell.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Set the oval-shaped soft bread on the right of the smooth metal bell.",
+    "Place the rounded oval bread on the medium-sized bell's right side.",
+    "Grab the oval bread and place it right of the lightweight bell with smooth surface.",
+    "Put the oval-shaped soft bread to the right of the smooth metal bell.",
+    "Place the oval bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the oval-shaped soft bread to the right of the lightweight bell with smooth surface",
+    "Place the oval-shaped soft bread on the right of the lightweight bell with smooth surface.",
+    "Set the oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Set the oval bread on the right of the lightweight bell with smooth surface.",
+    "Place the rounded oval bread on the lightweight bell with smooth surface's right side.",
+    "Grab the rounded oval bread and place it right of the medium-sized bell.",
+    "Put the oval bread to the right of the medium-sized bell.",
+    "Place the oval-shaped soft bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the oval-shaped soft bread to the right of the medium-sized bell",
+    "Place the oval bread on the right of the lightweight bell with smooth surface.",
+    "Set the oval-shaped soft bread to the right of the medium-sized bell.",
+    "Put the oval-shaped soft bread to the right of the lightweight bell with smooth surface.",
+    "Put the rounded oval bread to the right of the smooth metal bell.",
+    "Set the oval-shaped soft bread on the right of the medium-sized bell.",
+    "Place the rounded oval bread on the medium-sized bell's right side.",
+    "Grab the oval bread and place it right of the lightweight bell with smooth surface.",
+    "Put the oval-shaped soft bread to the right of the smooth metal bell.",
+    "Place the oval-shaped soft bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the oval bread to the right of the smooth metal bell",
+    "Place the rounded oval bread on the right of the smooth metal bell.",
+    "Set the oval bread to the right of the medium-sized bell.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the smooth metal bell.",
+    "Set the oval bread on the right of the smooth metal bell.",
+    "Place the rounded oval bread on the medium-sized bell's right side.",
+    "Grab the rounded oval bread and place it right of the lightweight bell with smooth surface.",
+    "Put the rounded oval bread to the right of the lightweight bell with smooth surface.",
+    "Place the oval bread rightward of the medium-sized bell using the left arm",
+    "Put the oval bread to the right of the lightweight bell with smooth surface",
+    "Place the rounded oval bread on the right of the smooth metal bell.",
+    "Set the oval bread to the right of the smooth metal bell.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the rounded oval bread to the right of the medium-sized bell.",
+    "Set the oval bread on the right of the lightweight bell with smooth surface.",
+    "Place the oval-shaped soft bread on the lightweight bell with smooth surface's right side.",
+    "Grab the oval bread and place it right of the medium-sized bell.",
+    "Put the rounded oval bread to the right of the medium-sized bell.",
+    "Place the rounded oval bread rightward of the medium-sized bell using the left arm",
+    "Put the oval bread to the right of the smooth metal bell",
+    "Place the rounded oval bread on the right of the smooth metal bell.",
+    "Set the oval-shaped soft bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval-shaped soft bread to the right of the smooth metal bell.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Set the rounded oval bread on the right of the lightweight bell with smooth surface.",
+    "Place the rounded oval bread on the medium-sized bell's right side.",
+    "Grab the rounded oval bread and place it right of the medium-sized bell.",
+    "Put the rounded oval bread to the right of the lightweight bell with smooth surface.",
+    "Place the oval-shaped soft bread rightward of the medium-sized bell using the left arm",
+    "Put the oval bread to the right of the smooth metal bell",
+    "Place the oval-shaped soft bread on the right of the medium-sized bell.",
+    "Set the rounded oval bread to the right of the lightweight bell with smooth surface.",
+    "Put the rounded oval bread to the right of the medium-sized bell.",
+    "Put the oval bread to the right of the smooth metal bell.",
+    "Set the oval-shaped soft bread on the right of the lightweight bell with smooth surface.",
+    "Place the oval-shaped soft bread on the smooth metal bell's right side.",
+    "Grab the oval-shaped soft bread and place it right of the medium-sized bell.",
+    "Put the rounded oval bread to the right of the smooth metal bell.",
+    "Place the oval-shaped soft bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the rounded oval bread to the right of the smooth metal bell",
+    "Place the oval-shaped soft bread on the right of the lightweight bell with smooth surface.",
+    "Set the rounded oval bread to the right of the smooth metal bell.",
+    "Put the oval-shaped soft bread to the right of the lightweight bell with smooth surface.",
+    "Put the oval bread to the right of the lightweight bell with smooth surface.",
+    "Set the rounded oval bread on the right of the smooth metal bell.",
+    "Place the rounded oval bread on the medium-sized bell's right side.",
+    "Grab the oval bread and place it right of the smooth metal bell.",
+    "Put the oval-shaped soft bread to the right of the medium-sized bell.",
+    "Place the oval-shaped soft bread rightward of the lightweight bell with smooth surface using the left arm",
+    "Put the rounded oval bread to the right of the medium-sized bell",
+    "Place the oval-shaped soft bread on the right of the lightweight bell with smooth surface.",
+    "Set the oval bread to the right of the smooth metal bell.",
+    "Put the oval-shaped soft bread to the right of the medium-sized bell.",
+    "Put the rounded oval bread to the right of the medium-sized bell.",
+    "Set the oval-shaped soft bread on the right of the medium-sized bell.",
+    "Place the oval bread on the smooth metal bell's right side."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode119.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the compact box for playing cards to the right of the small car toy.",
+    "Place the cardboard playing cards box directly on the compact teal toycar's right.",
+    "Grab the small black box with cards using the right arm and set it to the toycar with black tires's right.",
+    "Put the box with cards inside exactly to the right of the toycar with black tires.",
+    "Take the rectangular box for card storage with the right arm and position it right of the rounded teal car toy.",
+    "Move the black playing cards box right of the play car in teal and white with the right arm",
+    "Set the box with cards inside using the right arm at the small teal plastic car with windows's right",
+    "Position the rectangular box for card storage directly to the right of the small car toy.",
+    "Position the box holding playing cards at the right side of the toycar with black tires",
+    "Set the black playing cards box carefully on the smooth teal car's right side.",
+    "Use the right arm to set the playing cards box with gold text right of the smooth teal car.",
+    "Shift the box holding playing cards to the right of the mini car toy",
+    "Move the smooth black cards container to the right beside the miniature teal vehicle toy.",
+    "Using the right arm, position the playing cards box with gold text to the right of the toycar with glossy finish.",
+    "Place the palm-sized box for playing cards precisely to the right of the rounded teal car toy.",
+    "Move the black playing cards box and place it carefully to the smooth teal car's right.",
+    "Set the cardboard playing cards box down on the miniature teal vehicle toy's right side.",
+    "Set the box with cards inside on the smooth teal car's right side",
+    "Bring the small black box with cards to the right position of the small teal plastic car with windows.",
+    "Move the rectangular box for card storage and place it to the mini car toy's right.",
+    "Using the right arm, position the black box with rectangular shape to the right of the toycar with white roof and teal body.",
+    "Stick the box holding playing cards on the play car in teal and white's right side",
+    "Move the cardboard playing cards box using the right arm to the toycar with white roof and teal body's right position.",
+    "Put the black box with rectangular shape using the right arm on the right of the toycar with glossy finish.",
+    "Make sure the cardboard playing cards box is placed right of the light teal toycar with white roof.",
+    "Use the right arm to place the box holding playing cards right of the light teal toycar with white roof.",
+    "Direct the right arm to place the palm-sized box for playing cards right of the compact teal toycar.",
+    "Use the right arm to set the box with cards inside right of the light teal toycar with white roof.",
+    "With the right arm, move the rectangular box for card storage to the toycar with glossy finish's right.",
+    "Grab the box holding playing cards with the right arm and place it right of the light teal toycar with white roof.",
+    "Move the black playing cards box and set it to the small teal plastic car with windows's right.",
+    "Set the black playing cards box properly on the right of the light teal toycar with white roof.",
+    "Grab the smooth black cards container using the right arm and place it right of the light teal toycar with white roof.",
+    "Use the right arm to position the box holding playing cards to the rounded teal car toy's right.",
+    "Grab the black box with rectangular shape with the right arm and set right of the small car toy.",
+    "Ensure the black box with rectangular shape is placed on the right of the light teal toycar with white roof.",
+    "Grab the cardboard playing cards box using the right arm, then move it to the smooth teal car's right.",
+    "Move the rectangular box for card storage to the compact teal toycar's right position.",
+    "Set the black box with rectangular shape right next to the play car in teal and white's right side.",
+    "Position the black box with rectangular shape to the toycar with white roof and teal body's right using the right arm",
+    "Set the playing cards box with gold text neatly on the right side of the small car toy.",
+    "Put the box holding playing cards at the right of the toycar with white roof and teal body",
+    "Place the small black box with cards on the right of the toycar with black tires.",
+    "Ensure the rectangle-shaped cards box is on the right of the small teal plastic car with windows.",
+    "Set the black playing cards box on the right side of the light teal toycar with white roof.",
+    "Use the right arm to place the compact box for playing cards right of the light teal toycar with white roof.",
+    "Grasp the palm-sized box for playing cards with the right arm and move it to the toycar with glossy finish's right.",
+    "Place the rectangular box for card storage using the right arm at the miniature teal vehicle toy's right",
+    "Position the cardboard playing cards box to the right of the toycar with white roof and teal body.",
+    "Move the rectangle-shaped cards box to the miniature teal vehicle toy's right using the right arm",
+    "Position the black playing cards box to the right of the toycar with glossy finish.",
+    "Place the playing cards box with gold text directly on the toycar with white roof and teal body's right.",
+    "Grab the rectangle-shaped cards box using the right arm and set it to the toycar with black tires's right.",
+    "Put the box with cards inside exactly to the right of the rounded teal car toy.",
+    "Take the rectangle-shaped cards box with the right arm and position it right of the smooth teal car.",
+    "Move the playing cards box with gold text right of the small teal plastic car with windows with the right arm",
+    "Set the box holding playing cards using the right arm at the small car toy's right",
+    "Position the black playing cards box directly to the right of the small teal plastic car with windows.",
+    "Position the black playing cards box at the right side of the play car in teal and white",
+    "Set the playing cards box with gold text carefully on the play car in teal and white's right side.",
+    "Use the right arm to set the rectangular box for card storage right of the toycar with glossy finish.",
+    "Shift the rectangle-shaped cards box to the right of the light teal toycar with white roof",
+    "Move the compact box for playing cards to the right beside the compact teal toycar.",
+    "Using the right arm, position the compact box for playing cards to the right of the small car toy.",
+    "Place the cardboard playing cards box precisely to the right of the toycar with white roof and teal body.",
+    "Move the compact box for playing cards and place it carefully to the toycar with glossy finish's right.",
+    "Set the rectangle-shaped cards box down on the small teal plastic car with windows's right side.",
+    "Set the box with cards inside on the toycar with glossy finish's right side",
+    "Bring the rectangular box for card storage to the right position of the light teal toycar with white roof.",
+    "Move the box holding playing cards and place it to the smooth teal car's right.",
+    "Using the right arm, position the cardboard playing cards box to the right of the miniature teal vehicle toy.",
+    "Stick the black box with rectangular shape on the toycar with black tires's right side",
+    "Move the playing cards box with gold text using the right arm to the compact teal toycar's right position.",
+    "Put the small black box with cards using the right arm on the right of the play car in teal and white.",
+    "Make sure the box with cards inside is placed right of the compact teal toycar.",
+    "Use the right arm to place the cardboard playing cards box right of the rounded teal car toy.",
+    "Direct the right arm to place the rectangular box for card storage right of the compact teal toycar.",
+    "Use the right arm to set the rectangular box for card storage right of the miniature teal vehicle toy.",
+    "With the right arm, move the cardboard playing cards box to the small teal plastic car with windows's right.",
+    "Grab the compact box for playing cards with the right arm and place it right of the smooth teal car.",
+    "Move the black box with rectangular shape and set it to the toycar with white roof and teal body's right.",
+    "Set the rectangle-shaped cards box properly on the right of the toycar with white roof and teal body.",
+    "Grab the palm-sized box for playing cards using the right arm and place it right of the play car in teal and white.",
+    "Use the right arm to position the rectangular box for card storage to the miniature teal vehicle toy's right.",
+    "Grab the box holding playing cards with the right arm and set right of the toycar with black tires.",
+    "Ensure the black box with rectangular shape is placed on the right of the toycar with glossy finish.",
+    "Grab the black box with rectangular shape using the right arm, then move it to the small teal plastic car with windows's right.",
+    "Move the rectangular box for card storage to the rounded teal car toy's right position.",
+    "Set the cardboard playing cards box right next to the toycar with white roof and teal body's right side.",
+    "Position the small black box with cards to the toycar with white roof and teal body's right using the right arm",
+    "Set the black playing cards box neatly on the right side of the small car toy.",
+    "Put the box with cards inside at the right of the light teal toycar with white roof",
+    "Place the small black box with cards on the right of the play car in teal and white.",
+    "Ensure the rectangular box for card storage is on the right of the compact teal toycar.",
+    "Set the black box with rectangular shape on the right side of the play car in teal and white.",
+    "Use the right arm to place the cardboard playing cards box right of the compact teal toycar.",
+    "Grasp the box with cards inside with the right arm and move it to the toycar with black tires's right.",
+    "Place the box holding playing cards using the right arm at the toycar with glossy finish's right",
+    "Position the box holding playing cards to the right of the toycar with glossy finish.",
+    "Move the rectangular box for card storage to the rounded teal car toy's right using the right arm"
+  ],
+  "unseen": [
+    "Put the hard black box for card deck to the right of the plastic toycar with four spinning wheels.",
+    "Place the hard black box for card deck on the plastic teal car with wheels's right side.",
+    "Put the gold text on playing cards box to the right of the plastic toycar with four spinning wheels",
+    "Put the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Set the gold text on playing cards box to the right of the teal toycar.",
+    "Set the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Grab the black box with smooth surface and place it right of the plastic teal car with wheels.",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the black box with smooth surface on the right of the plastic toycar with four spinning wheels.",
+    "Place the black box with smooth surface rightward of the plastic toycar with four spinning wheels using the right arm",
+    "Put the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Place the black box with smooth surface on the teal toycar's right side.",
+    "Put the gold text on playing cards box to the right of the plastic toycar with four spinning wheels",
+    "Put the black box with smooth surface to the right of the plastic teal car with wheels.",
+    "Set the gold text on playing cards box to the right of the plastic toycar with four spinning wheels.",
+    "Set the black box with smooth surface on the right of the teal toycar.",
+    "Grab the hard black box for card deck and place it right of the plastic toycar with four spinning wheels.",
+    "Put the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Place the hard black box for card deck on the right of the plastic teal car with wheels.",
+    "Place the gold text on playing cards box rightward of the teal toycar using the right arm",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the hard black box for card deck on the plastic toycar with four spinning wheels's right side.",
+    "Put the hard black box for card deck to the right of the plastic toycar with four spinning wheels",
+    "Put the gold text on playing cards box to the right of the plastic teal car with wheels.",
+    "Set the gold text on playing cards box to the right of the teal toycar.",
+    "Set the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Grab the gold text on playing cards box and place it right of the teal toycar.",
+    "Put the gold text on playing cards box to the right of the plastic toycar with four spinning wheels.",
+    "Place the black box with smooth surface on the right of the teal toycar.",
+    "Place the gold text on playing cards box rightward of the teal toycar using the right arm",
+    "Put the black box with smooth surface to the right of the plastic teal car with wheels.",
+    "Place the black box with smooth surface on the teal toycar's right side.",
+    "Put the gold text on playing cards box to the right of the plastic teal car with wheels",
+    "Put the gold text on playing cards box to the right of the plastic toycar with four spinning wheels.",
+    "Set the hard black box for card deck to the right of the plastic teal car with wheels.",
+    "Set the gold text on playing cards box on the right of the teal toycar.",
+    "Grab the hard black box for card deck and place it right of the plastic teal car with wheels.",
+    "Put the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Place the gold text on playing cards box on the right of the teal toycar.",
+    "Place the gold text on playing cards box rightward of the plastic toycar with four spinning wheels using the right arm",
+    "Put the black box with smooth surface to the right of the teal toycar.",
+    "Place the black box with smooth surface on the teal toycar's right side.",
+    "Put the gold text on playing cards box to the right of the teal toycar",
+    "Put the hard black box for card deck to the right of the plastic toycar with four spinning wheels.",
+    "Set the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Set the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Grab the black box with smooth surface and place it right of the plastic toycar with four spinning wheels.",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Place the gold text on playing cards box rightward of the teal toycar using the right arm",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the gold text on playing cards box on the plastic teal car with wheels's right side.",
+    "Put the gold text on playing cards box to the right of the plastic teal car with wheels",
+    "Put the black box with smooth surface to the right of the teal toycar.",
+    "Set the hard black box for card deck to the right of the plastic toycar with four spinning wheels.",
+    "Set the gold text on playing cards box on the right of the plastic toycar with four spinning wheels.",
+    "Grab the black box with smooth surface and place it right of the plastic teal car with wheels.",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Place the hard black box for card deck on the right of the plastic toycar with four spinning wheels.",
+    "Place the hard black box for card deck rightward of the plastic toycar with four spinning wheels using the right arm",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Place the gold text on playing cards box on the teal toycar's right side.",
+    "Put the black box with smooth surface to the right of the teal toycar",
+    "Put the gold text on playing cards box to the right of the plastic teal car with wheels.",
+    "Set the hard black box for card deck to the right of the plastic toycar with four spinning wheels.",
+    "Set the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Grab the black box with smooth surface and place it right of the plastic teal car with wheels.",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Place the hard black box for card deck on the right of the teal toycar.",
+    "Place the gold text on playing cards box rightward of the plastic toycar with four spinning wheels using the right arm",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the gold text on playing cards box on the plastic teal car with wheels's right side.",
+    "Put the gold text on playing cards box to the right of the teal toycar",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Set the gold text on playing cards box to the right of the teal toycar.",
+    "Set the hard black box for card deck on the right of the plastic teal car with wheels.",
+    "Grab the hard black box for card deck and place it right of the teal toycar.",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Place the hard black box for card deck on the right of the plastic teal car with wheels.",
+    "Place the gold text on playing cards box rightward of the plastic teal car with wheels using the right arm",
+    "Put the gold text on playing cards box to the right of the plastic toycar with four spinning wheels.",
+    "Place the black box with smooth surface on the plastic teal car with wheels's right side.",
+    "Put the black box with smooth surface to the right of the plastic teal car with wheels",
+    "Put the hard black box for card deck to the right of the teal toycar.",
+    "Set the black box with smooth surface to the right of the plastic toycar with four spinning wheels.",
+    "Set the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Grab the hard black box for card deck and place it right of the teal toycar.",
+    "Put the gold text on playing cards box to the right of the teal toycar.",
+    "Place the black box with smooth surface on the right of the teal toycar.",
+    "Place the gold text on playing cards box rightward of the plastic teal car with wheels using the right arm",
+    "Put the black box with smooth surface to the right of the plastic teal car with wheels.",
+    "Place the hard black box for card deck on the teal toycar's right side.",
+    "Put the hard black box for card deck to the right of the plastic teal car with wheels",
+    "Put the hard black box for card deck to the right of the plastic toycar with four spinning wheels.",
+    "Set the hard black box for card deck to the right of the teal toycar.",
+    "Set the hard black box for card deck on the right of the teal toycar.",
+    "Grab the gold text on playing cards box and place it right of the plastic toycar with four spinning wheels.",
+    "Put the black box with smooth surface to the right of the plastic teal car with wheels.",
+    "Place the black box with smooth surface on the right of the plastic teal car with wheels.",
+    "Place the gold text on playing cards box rightward of the plastic toycar with four spinning wheels using the right arm"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode215.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth-screen phone using the left arm, then move it to the solid rectangular soap's right.",
+    "Bring the compact phone to the right position of the soap bar.",
+    "Take the compact phone with the left arm and position it right of the light gray soap bar.",
+    "Put the glass-faced phone at the right of the rectangular soap with slight groove pattern",
+    "Place the smooth-screen phone directly on the small solid gray cleaning soap's right.",
+    "Stick the phone with touchscreen on the gray soap's right side",
+    "Grab the lightweight phone using the left arm and set it to the small solid gray cleaning soap's right.",
+    "Move the compact phone and place it carefully to the light gray rectangular cleaning soap's right.",
+    "Use the left arm to place the black and white phone right of the gray rectangular soap with angled edges.",
+    "Move the palm-sized black and white phone to the slanted soap with smooth surface's right position.",
+    "Move the flat phone right of the smooth gray bar of soap with the left arm",
+    "Shift the phone with buttons and screen to the right of the rectangular soap with slight groove pattern",
+    "Make sure the compact phone is placed right of the slanted soap with smooth surface.",
+    "Place the phone with digital display using the left arm at the gray rectangular soap with angled edges's right",
+    "Position the sleek rectangular phone to the slanted soap with smooth surface's right using the left arm",
+    "Set the phone with touchscreen properly on the right of the slanted rectangular soap.",
+    "Put the phone for calls and apps exactly to the right of the rectangular soap with slight groove pattern.",
+    "Set the phone with digital display on the light gray rectangular cleaning soap's right side",
+    "Use the left arm to place the palm-sized black and white phone right of the solid rectangular soap.",
+    "Position the compact phone directly to the right of the gray rectangular soap with angled edges.",
+    "Put the phone for calls and apps using the left arm on the right of the gray soap.",
+    "Ensure the compact phone is on the right of the light gray soap bar.",
+    "Using the left arm, position the glass-faced phone to the right of the solid rectangular soap.",
+    "Set the phone for calls and apps carefully on the light gray rectangular cleaning soap's right side.",
+    "Move the glass-faced phone using the left arm to the slanted rectangular soap's right position.",
+    "Set the smooth-screen phone using the left arm at the soap bar's right",
+    "Set the compact phone neatly on the right side of the light gray soap bar.",
+    "Grasp the phone with buttons and screen with the left arm and move it to the light gray soap with angled ends's right.",
+    "Grab the phone with digital display using the left arm and place it right of the soap bar.",
+    "Move the phone with touchscreen and set it to the slanted soap with smooth surface's right.",
+    "Set the phone for calls and apps on the right side of the solid rectangular soap.",
+    "Position the black and white phone to the right of the light gray rectangular cleaning soap.",
+    "Using the left arm, position the phone for calls and apps to the right of the small solid gray cleaning soap.",
+    "Grab the palm-sized black and white phone with the left arm and set right of the gray soap.",
+    "With the left arm, move the smooth-screen phone to the light gray rectangular cleaning soap's right.",
+    "Move the phone with buttons and screen and place it to the gray rectangular soap with angled edges's right.",
+    "Move the black and white phone to the slanted soap with smooth surface's right using the left arm",
+    "Grab the lightweight phone with the left arm and place it right of the light gray soap with angled ends.",
+    "Set the compact phone right next to the rectangular soap with slight groove pattern's right side.",
+    "Use the left arm to set the black and white phone right of the rectangular soap with slight groove pattern.",
+    "Move the compact phone to the right beside the small solid gray cleaning soap.",
+    "Place the phone with digital display on the right of the rectangular soap with slight groove pattern.",
+    "Direct the left arm to place the palm-sized black and white phone right of the light gray soap with angled ends.",
+    "Position the phone with buttons and screen at the right side of the gray soap",
+    "Set the phone with digital display down on the smooth gray bar of soap's right side.",
+    "Use the left arm to set the phone with touchscreen right of the slanted soap with smooth surface.",
+    "Position the black and white phone to the right of the rectangular soap with slight groove pattern.",
+    "Use the left arm to position the compact phone to the smooth gray bar of soap's right.",
+    "Ensure the phone with digital display is placed on the right of the gray rectangular soap with angled edges.",
+    "Place the flat phone precisely to the right of the soap bar.",
+    "Grab the phone with digital display using the left arm, then move it to the light gray soap with angled ends's right.",
+    "Bring the flat phone to the right position of the gray rectangular soap with angled edges.",
+    "Take the compact phone with the left arm and position it right of the smooth gray bar of soap.",
+    "Put the smooth-screen phone at the right of the gray soap",
+    "Place the smooth-screen phone directly on the solid rectangular soap's right.",
+    "Stick the smooth-screen phone on the gray soap's right side",
+    "Grab the phone with touchscreen using the left arm and set it to the gray rectangular soap with angled edges's right.",
+    "Move the glass-faced phone and place it carefully to the soap bar's right.",
+    "Use the left arm to place the compact phone right of the gray soap.",
+    "Move the black and white phone to the gray rectangular soap with angled edges's right position.",
+    "Move the black and white phone right of the solid rectangular soap with the left arm",
+    "Shift the black and white phone to the right of the soap bar",
+    "Make sure the flat phone is placed right of the rectangular soap with slight groove pattern.",
+    "Place the compact phone using the left arm at the light gray soap with angled ends's right",
+    "Position the smooth-screen phone to the light gray soap with angled ends's right using the left arm",
+    "Set the glass-faced phone properly on the right of the gray rectangular soap with angled edges.",
+    "Put the phone for calls and apps exactly to the right of the small solid gray cleaning soap.",
+    "Set the phone with digital display on the light gray rectangular cleaning soap's right side",
+    "Use the left arm to place the lightweight phone right of the slanted rectangular soap.",
+    "Position the phone with buttons and screen directly to the right of the soap bar.",
+    "Put the phone with digital display using the left arm on the right of the gray soap.",
+    "Ensure the palm-sized black and white phone is on the right of the small solid gray cleaning soap.",
+    "Using the left arm, position the black and white phone to the right of the gray rectangular soap with angled edges.",
+    "Set the phone with touchscreen carefully on the soap bar's right side.",
+    "Move the glass-faced phone using the left arm to the smooth gray bar of soap's right position.",
+    "Set the phone with buttons and screen using the left arm at the rectangular soap with slight groove pattern's right",
+    "Set the compact phone neatly on the right side of the light gray rectangular cleaning soap.",
+    "Grasp the sleek rectangular phone with the left arm and move it to the light gray soap bar's right.",
+    "Grab the lightweight phone using the left arm and place it right of the slanted soap with smooth surface.",
+    "Move the compact phone and set it to the light gray soap with angled ends's right.",
+    "Set the black and white phone on the right side of the slanted soap with smooth surface.",
+    "Position the lightweight phone to the right of the light gray soap bar.",
+    "Using the left arm, position the smooth-screen phone to the right of the solid rectangular soap.",
+    "Grab the phone with buttons and screen with the left arm and set right of the light gray soap bar.",
+    "With the left arm, move the glass-faced phone to the gray rectangular soap with angled edges's right.",
+    "Move the glass-faced phone and place it to the small solid gray cleaning soap's right.",
+    "Move the palm-sized black and white phone to the smooth gray bar of soap's right using the left arm",
+    "Grab the black and white phone with the left arm and place it right of the light gray rectangular cleaning soap.",
+    "Set the phone with touchscreen right next to the gray soap's right side.",
+    "Use the left arm to set the phone with buttons and screen right of the light gray soap bar.",
+    "Move the lightweight phone to the right beside the rectangular soap with slight groove pattern.",
+    "Place the phone with buttons and screen on the right of the gray soap.",
+    "Direct the left arm to place the glass-faced phone right of the small solid gray cleaning soap.",
+    "Position the phone for calls and apps at the right side of the solid rectangular soap",
+    "Set the flat phone down on the light gray soap bar's right side.",
+    "Use the left arm to set the phone with digital display right of the gray rectangular soap with angled edges.",
+    "Position the phone with buttons and screen to the right of the light gray rectangular cleaning soap.",
+    "Use the left arm to position the glass-faced phone to the soap bar's right.",
+    "Ensure the black and white phone is placed on the right of the solid rectangular soap.",
+    "Place the lightweight phone precisely to the right of the slanted rectangular soap."
+  ],
+  "unseen": [
+    "Grab the phone with rounded edges and place it right of the hand-sized gray soap.",
+    "Set the white-sided phone on the right of the soap with smooth grooves.",
+    "Put the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Place the white-sided phone on the right of the soap with smooth grooves.",
+    "Put the rectangular phone to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the solid gray rectangular cleaning soap.",
+    "Set the rectangular phone to the right of the soap with smooth grooves.",
+    "Place the white-sided phone on the soap with smooth grooves's right side.",
+    "Put the phone with rounded edges to the right of the soap with smooth grooves",
+    "Place the rectangular phone rightward of the soap with smooth grooves using the left arm",
+    "Grab the white-sided phone and place it right of the soap with smooth grooves.",
+    "Set the rectangular phone on the right of the soap with smooth grooves.",
+    "Put the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Place the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the rectangular phone to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the hand-sized gray soap.",
+    "Set the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the phone with rounded edges on the hand-sized gray soap's right side.",
+    "Put the white-sided phone to the right of the solid gray rectangular cleaning soap",
+    "Place the rectangular phone rightward of the soap with smooth grooves using the left arm",
+    "Grab the phone with rounded edges and place it right of the solid gray rectangular cleaning soap.",
+    "Set the phone with rounded edges on the right of the solid gray rectangular cleaning soap.",
+    "Put the phone with rounded edges to the right of the soap with smooth grooves.",
+    "Place the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the white-sided phone to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the solid gray rectangular cleaning soap.",
+    "Set the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the white-sided phone on the solid gray rectangular cleaning soap's right side.",
+    "Put the white-sided phone to the right of the hand-sized gray soap",
+    "Place the phone with rounded edges rightward of the soap with smooth grooves using the left arm",
+    "Grab the rectangular phone and place it right of the soap with smooth grooves.",
+    "Set the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the rectangular phone to the right of the solid gray rectangular cleaning soap.",
+    "Place the phone with rounded edges on the right of the soap with smooth grooves.",
+    "Put the white-sided phone to the right of the soap with smooth grooves.",
+    "Put the rectangular phone to the right of the soap with smooth grooves.",
+    "Set the rectangular phone to the right of the hand-sized gray soap.",
+    "Place the white-sided phone on the solid gray rectangular cleaning soap's right side.",
+    "Put the rectangular phone to the right of the soap with smooth grooves",
+    "Place the phone with rounded edges rightward of the solid gray rectangular cleaning soap using the left arm",
+    "Grab the phone with rounded edges and place it right of the solid gray rectangular cleaning soap.",
+    "Set the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the phone with rounded edges to the right of the soap with smooth grooves.",
+    "Place the phone with rounded edges on the right of the hand-sized gray soap.",
+    "Put the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the solid gray rectangular cleaning soap.",
+    "Set the rectangular phone to the right of the hand-sized gray soap.",
+    "Place the white-sided phone on the hand-sized gray soap's right side.",
+    "Put the phone with rounded edges to the right of the soap with smooth grooves",
+    "Place the phone with rounded edges rightward of the solid gray rectangular cleaning soap using the left arm",
+    "Grab the phone with rounded edges and place it right of the soap with smooth grooves.",
+    "Set the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the rectangular phone on the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the hand-sized gray soap.",
+    "Put the phone with rounded edges to the right of the solid gray rectangular cleaning soap.",
+    "Set the phone with rounded edges to the right of the soap with smooth grooves.",
+    "Place the white-sided phone on the soap with smooth grooves's right side.",
+    "Put the white-sided phone to the right of the soap with smooth grooves",
+    "Place the white-sided phone rightward of the soap with smooth grooves using the left arm",
+    "Grab the rectangular phone and place it right of the hand-sized gray soap.",
+    "Set the white-sided phone on the right of the soap with smooth grooves.",
+    "Put the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the phone with rounded edges on the right of the soap with smooth grooves.",
+    "Put the phone with rounded edges to the right of the solid gray rectangular cleaning soap.",
+    "Put the rectangular phone to the right of the solid gray rectangular cleaning soap.",
+    "Set the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the phone with rounded edges on the solid gray rectangular cleaning soap's right side.",
+    "Put the rectangular phone to the right of the solid gray rectangular cleaning soap",
+    "Place the rectangular phone rightward of the hand-sized gray soap using the left arm",
+    "Grab the rectangular phone and place it right of the soap with smooth grooves.",
+    "Set the white-sided phone on the right of the soap with smooth grooves.",
+    "Put the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Place the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the rectangular phone to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the hand-sized gray soap.",
+    "Set the rectangular phone to the right of the solid gray rectangular cleaning soap.",
+    "Place the white-sided phone on the hand-sized gray soap's right side.",
+    "Put the phone with rounded edges to the right of the solid gray rectangular cleaning soap",
+    "Place the rectangular phone rightward of the soap with smooth grooves using the left arm",
+    "Grab the phone with rounded edges and place it right of the soap with smooth grooves.",
+    "Set the white-sided phone on the right of the hand-sized gray soap.",
+    "Put the phone with rounded edges to the right of the soap with smooth grooves.",
+    "Place the rectangular phone on the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the soap with smooth grooves.",
+    "Put the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Set the white-sided phone to the right of the soap with smooth grooves.",
+    "Place the white-sided phone on the hand-sized gray soap's right side.",
+    "Put the rectangular phone to the right of the soap with smooth grooves",
+    "Place the phone with rounded edges rightward of the solid gray rectangular cleaning soap using the left arm",
+    "Grab the rectangular phone and place it right of the hand-sized gray soap.",
+    "Set the white-sided phone on the right of the solid gray rectangular cleaning soap.",
+    "Put the rectangular phone to the right of the solid gray rectangular cleaning soap.",
+    "Place the phone with rounded edges on the right of the solid gray rectangular cleaning soap.",
+    "Put the white-sided phone to the right of the hand-sized gray soap.",
+    "Put the white-sided phone to the right of the soap with smooth grooves.",
+    "Set the phone with rounded edges to the right of the hand-sized gray soap.",
+    "Place the rectangular phone on the soap with smooth grooves's right side.",
+    "Put the phone with rounded edges to the right of the solid gray rectangular cleaning soap",
+    "Place the rectangular phone rightward of the soap with smooth grooves using the left arm"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode249.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the rectangular coffee-box to the right of the compact tabletop bell",
+    "Set the light brown coffee-box with printed text properly on the right of the white bell with black bottom.",
+    "Ensure the brown coffee-box is on the right of the bell shaped like half-circle dome.",
+    "Using the right arm, position the coffee-box with smooth cardboard to the right of the bell shaped like half-circle dome.",
+    "With the right arm, move the printed coffee-box for coffee storage to the compact tabletop bell's right.",
+    "Using the right arm, position the medium coffee-box for storage to the right of the white bell.",
+    "Position the rectangular coffee-box to the bell with black flat base's right using the right arm",
+    "Stick the medium rectangular coffee-box on the rounded bell with flat black part's right side",
+    "Bring the rectangular coffee-box with smooth texture to the right position of the bell shaped like half-circle dome.",
+    "Move the medium rectangular coffee-box and place it carefully to the white and black colored bell's right.",
+    "Set the medium light brown coffee-box for coffee using the right arm at the white bell with black bottom's right",
+    "Move the medium coffee-box for storage and place it to the bell shaped like half-circle dome's right.",
+    "Position the coffee-box with cup image on top to the right of the small desk bell for tapping.",
+    "Place the printed coffee-box for coffee storage directly on the compact tabletop bell's right.",
+    "Put the medium coffee-box for storage exactly to the right of the white bell.",
+    "Grab the printed coffee-box for coffee storage with the right arm and place it right of the bell with metallic top and plastic base.",
+    "Move the medium coffee-box for storage right of the white bell with black bottom with the right arm",
+    "Set the coffee-box with cup image on top carefully on the white and black colored bell's right side.",
+    "Position the coffee-box with cup image on top at the right side of the bell with black flat base",
+    "Put the coffee-box with smooth cardboard using the right arm on the right of the compact tabletop bell.",
+    "Grab the brown coffee-box using the right arm and set it to the white bell's right.",
+    "Grab the rectangular coffee-box with the right arm and set right of the simple hand bell with black stand.",
+    "Make sure the brown coffee-box is placed right of the bell with metallic top and plastic base.",
+    "Use the right arm to set the coffee-box with cup image on top right of the bell with black flat base.",
+    "Place the coffee-box with smooth cardboard on the right of the white and black colored bell.",
+    "Take the cardboard coffee-box with light brown color with the right arm and position it right of the bell shaped like half-circle dome.",
+    "Direct the right arm to place the rectangular coffee-box right of the white dome bell.",
+    "Grab the light brown coffee-box with printed text using the right arm and place it right of the plastic and metal bell.",
+    "Put the printed coffee-box for coffee storage at the right of the white dome bell",
+    "Set the brown coffee-box right next to the plastic and metal bell's right side.",
+    "Set the medium light brown coffee-box for coffee on the bell with black flat base's right side",
+    "Move the medium light brown coffee-box for coffee to the simple hand bell with black stand's right using the right arm",
+    "Place the coffee-box with smooth cardboard using the right arm at the bell with metallic top and plastic base's right",
+    "Grasp the light brown box labeled for coffee with the right arm and move it to the compact tabletop bell's right.",
+    "Place the rectangular coffee-box with smooth texture precisely to the right of the bell with black flat base.",
+    "Use the right arm to position the rectangular coffee-box with smooth texture to the simple hand bell with black stand's right.",
+    "Position the medium light brown coffee-box for coffee directly to the right of the small desk bell for tapping.",
+    "Use the right arm to set the light brown coffee-box with printed text right of the bell shaped like half-circle dome.",
+    "Move the printed coffee-box for coffee storage to the right beside the small desk bell for tapping.",
+    "Use the right arm to place the medium coffee-box for storage right of the rounded bell with flat black part.",
+    "Move the medium rectangular coffee-box to the simple hand bell with black stand's right position.",
+    "Position the cardboard coffee-box with light brown color to the right of the compact tabletop bell.",
+    "Set the medium light brown coffee-box for coffee down on the white dome bell's right side.",
+    "Set the coffee-box with smooth cardboard neatly on the right side of the white bell with black bottom.",
+    "Move the light brown box labeled for coffee using the right arm to the small desk bell for tapping's right position.",
+    "Set the light brown box labeled for coffee on the right side of the bell with metallic top and plastic base.",
+    "Use the right arm to place the coffee-box with smooth cardboard right of the bell shaped like half-circle dome.",
+    "Move the rectangular coffee-box with smooth texture and set it to the white bell's right.",
+    "Ensure the light brown box labeled for coffee is placed on the right of the rounded bell with flat black part.",
+    "Grab the medium light brown coffee-box for coffee using the right arm, then move it to the compact tabletop bell's right.",
+    "Shift the coffee-box with smooth cardboard to the right of the compact tabletop bell",
+    "Set the medium coffee-box for storage properly on the right of the plastic and metal bell.",
+    "Ensure the medium rectangular coffee-box is on the right of the plastic and metal bell.",
+    "Using the right arm, position the cardboard coffee-box with light brown color to the right of the simple hand bell with black stand.",
+    "With the right arm, move the medium light brown coffee-box for coffee to the simple hand bell with black stand's right.",
+    "Using the right arm, position the brown coffee-box to the right of the bell with black flat base.",
+    "Position the brown coffee-box to the compact tabletop bell's right using the right arm",
+    "Stick the brown coffee-box on the white bell with black bottom's right side",
+    "Bring the printed coffee-box for coffee storage to the right position of the white dome bell.",
+    "Move the coffee-box with cup image on top and place it carefully to the bell with black flat base's right.",
+    "Set the coffee-box with smooth cardboard using the right arm at the bell shaped like half-circle dome's right",
+    "Move the printed coffee-box for coffee storage and place it to the rounded bell with flat black part's right.",
+    "Position the light brown box labeled for coffee to the right of the white bell with black bottom.",
+    "Place the light brown box labeled for coffee directly on the bell with black flat base's right.",
+    "Put the brown coffee-box exactly to the right of the white and black colored bell.",
+    "Grab the coffee-box with cup image on top with the right arm and place it right of the simple hand bell with black stand.",
+    "Move the brown coffee-box right of the white bell with black bottom with the right arm",
+    "Set the light brown box labeled for coffee carefully on the white and black colored bell's right side.",
+    "Position the medium rectangular coffee-box at the right side of the plastic and metal bell",
+    "Put the medium light brown coffee-box for coffee using the right arm on the right of the rounded bell with flat black part.",
+    "Grab the light brown coffee-box with printed text using the right arm and set it to the plastic and metal bell's right.",
+    "Grab the rectangular coffee-box with the right arm and set right of the white bell with black bottom.",
+    "Make sure the medium coffee-box for storage is placed right of the bell shaped like half-circle dome.",
+    "Use the right arm to set the brown coffee-box right of the white dome bell.",
+    "Place the cardboard coffee-box with light brown color on the right of the bell shaped like half-circle dome.",
+    "Take the medium rectangular coffee-box with the right arm and position it right of the small desk bell for tapping.",
+    "Direct the right arm to place the rectangular coffee-box with smooth texture right of the bell shaped like half-circle dome.",
+    "Grab the coffee-box with smooth cardboard using the right arm and place it right of the plastic and metal bell.",
+    "Put the printed coffee-box for coffee storage at the right of the bell with metallic top and plastic base",
+    "Set the light brown box labeled for coffee right next to the white bell with black bottom's right side.",
+    "Set the light brown box labeled for coffee on the white and black colored bell's right side",
+    "Move the coffee-box with smooth cardboard to the bell with metallic top and plastic base's right using the right arm",
+    "Place the coffee-box with cup image on top using the right arm at the plastic and metal bell's right",
+    "Grasp the rectangular coffee-box with smooth texture with the right arm and move it to the plastic and metal bell's right.",
+    "Place the medium coffee-box for storage precisely to the right of the white bell.",
+    "Use the right arm to position the printed coffee-box for coffee storage to the simple hand bell with black stand's right.",
+    "Position the medium rectangular coffee-box directly to the right of the white and black colored bell.",
+    "Use the right arm to set the medium light brown coffee-box for coffee right of the rounded bell with flat black part.",
+    "Move the light brown coffee-box with printed text to the right beside the plastic and metal bell.",
+    "Use the right arm to place the rectangular coffee-box with smooth texture right of the rounded bell with flat black part.",
+    "Move the rectangular coffee-box with smooth texture to the white bell with black bottom's right position.",
+    "Position the printed coffee-box for coffee storage to the right of the plastic and metal bell.",
+    "Set the light brown coffee-box with printed text down on the white bell's right side.",
+    "Set the coffee-box with cup image on top neatly on the right side of the compact tabletop bell.",
+    "Move the medium coffee-box for storage using the right arm to the simple hand bell with black stand's right position.",
+    "Set the printed coffee-box for coffee storage on the right side of the white bell with black bottom.",
+    "Use the right arm to place the rectangular coffee-box right of the white and black colored bell.",
+    "Move the light brown coffee-box with printed text and set it to the white bell with black bottom's right.",
+    "Ensure the rectangular coffee-box is placed on the right of the bell with metallic top and plastic base.",
+    "Grab the rectangular coffee-box using the right arm, then move it to the compact tabletop bell's right."
+  ],
+  "unseen": [
+    "Put the coffee-box featuring cup and beans image to the right of the smooth metal bell.",
+    "Place the coffee-box with logo on top rightward of the smooth metal bell using the right arm",
+    "Set the smooth brown coffee-box on the right of the medium-sized bell.",
+    "Set the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Place the coffee-box with logo on top on the smooth metal bell's right side.",
+    "Place the smooth brown coffee-box on the right of the smooth metal bell.",
+    "Grab the coffee-box featuring cup and beans image and place it right of the medium-sized bell.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Put the smooth brown coffee-box to the right of the lightweight bell with smooth surface",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Put the smooth brown coffee-box to the right of the medium-sized bell.",
+    "Place the coffee-box with logo on top rightward of the lightweight bell with smooth surface using the right arm",
+    "Set the coffee-box with logo on top on the right of the lightweight bell with smooth surface.",
+    "Set the smooth brown coffee-box to the right of the medium-sized bell.",
+    "Place the smooth brown coffee-box on the lightweight bell with smooth surface's right side.",
+    "Place the coffee-box with logo on top on the right of the smooth metal bell.",
+    "Grab the coffee-box featuring cup and beans image and place it right of the lightweight bell with smooth surface.",
+    "Put the coffee-box featuring cup and beans image to the right of the medium-sized bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface",
+    "Put the coffee-box with logo on top to the right of the medium-sized bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the smooth metal bell.",
+    "Place the smooth brown coffee-box rightward of the medium-sized bell using the right arm",
+    "Set the smooth brown coffee-box on the right of the medium-sized bell.",
+    "Set the smooth brown coffee-box to the right of the lightweight bell with smooth surface.",
+    "Place the coffee-box with logo on top on the lightweight bell with smooth surface's right side.",
+    "Place the coffee-box featuring cup and beans image on the right of the medium-sized bell.",
+    "Grab the coffee-box with logo on top and place it right of the lightweight bell with smooth surface.",
+    "Put the smooth brown coffee-box to the right of the medium-sized bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Put the coffee-box featuring cup and beans image to the right of the smooth metal bell.",
+    "Place the coffee-box with logo on top rightward of the lightweight bell with smooth surface using the right arm",
+    "Set the coffee-box with logo on top on the right of the lightweight bell with smooth surface.",
+    "Set the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface.",
+    "Place the smooth brown coffee-box on the lightweight bell with smooth surface's right side.",
+    "Place the coffee-box featuring cup and beans image on the right of the smooth metal bell.",
+    "Grab the coffee-box with logo on top and place it right of the medium-sized bell.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Put the smooth brown coffee-box to the right of the medium-sized bell",
+    "Put the coffee-box with logo on top to the right of the medium-sized bell.",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Place the smooth brown coffee-box rightward of the smooth metal bell using the right arm",
+    "Set the smooth brown coffee-box on the right of the medium-sized bell.",
+    "Set the coffee-box featuring cup and beans image to the right of the smooth metal bell.",
+    "Place the coffee-box with logo on top on the lightweight bell with smooth surface's right side.",
+    "Place the coffee-box featuring cup and beans image on the right of the lightweight bell with smooth surface.",
+    "Grab the coffee-box featuring cup and beans image and place it right of the lightweight bell with smooth surface.",
+    "Put the coffee-box with logo on top to the right of the medium-sized bell.",
+    "Put the coffee-box with logo on top to the right of the medium-sized bell",
+    "Put the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface.",
+    "Put the coffee-box featuring cup and beans image to the right of the medium-sized bell.",
+    "Place the coffee-box featuring cup and beans image rightward of the medium-sized bell using the right arm",
+    "Set the smooth brown coffee-box on the right of the smooth metal bell.",
+    "Set the coffee-box with logo on top to the right of the medium-sized bell.",
+    "Place the smooth brown coffee-box on the lightweight bell with smooth surface's right side.",
+    "Place the coffee-box with logo on top on the right of the medium-sized bell.",
+    "Grab the coffee-box with logo on top and place it right of the lightweight bell with smooth surface.",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell",
+    "Put the smooth brown coffee-box to the right of the smooth metal bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface.",
+    "Place the coffee-box featuring cup and beans image rightward of the lightweight bell with smooth surface using the right arm",
+    "Set the smooth brown coffee-box on the right of the medium-sized bell.",
+    "Set the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Place the smooth brown coffee-box on the medium-sized bell's right side.",
+    "Place the coffee-box featuring cup and beans image on the right of the smooth metal bell.",
+    "Grab the coffee-box featuring cup and beans image and place it right of the smooth metal bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the smooth metal bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface",
+    "Put the smooth brown coffee-box to the right of the lightweight bell with smooth surface.",
+    "Put the coffee-box featuring cup and beans image to the right of the medium-sized bell.",
+    "Place the smooth brown coffee-box rightward of the smooth metal bell using the right arm",
+    "Set the smooth brown coffee-box on the right of the medium-sized bell.",
+    "Set the coffee-box featuring cup and beans image to the right of the lightweight bell with smooth surface.",
+    "Place the coffee-box with logo on top on the medium-sized bell's right side.",
+    "Place the smooth brown coffee-box on the right of the smooth metal bell.",
+    "Grab the coffee-box featuring cup and beans image and place it right of the medium-sized bell.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Put the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Place the coffee-box with logo on top rightward of the smooth metal bell using the right arm",
+    "Set the coffee-box featuring cup and beans image on the right of the smooth metal bell.",
+    "Set the coffee-box with logo on top to the right of the smooth metal bell.",
+    "Place the coffee-box featuring cup and beans image on the medium-sized bell's right side.",
+    "Place the smooth brown coffee-box on the right of the lightweight bell with smooth surface.",
+    "Grab the smooth brown coffee-box and place it right of the smooth metal bell.",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Put the coffee-box with logo on top to the right of the medium-sized bell",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface.",
+    "Put the smooth brown coffee-box to the right of the lightweight bell with smooth surface.",
+    "Place the coffee-box with logo on top rightward of the lightweight bell with smooth surface using the right arm",
+    "Set the coffee-box featuring cup and beans image on the right of the smooth metal bell.",
+    "Set the smooth brown coffee-box to the right of the smooth metal bell.",
+    "Place the smooth brown coffee-box on the smooth metal bell's right side.",
+    "Place the coffee-box with logo on top on the right of the medium-sized bell.",
+    "Grab the smooth brown coffee-box and place it right of the smooth metal bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the medium-sized bell.",
+    "Put the coffee-box featuring cup and beans image to the right of the medium-sized bell",
+    "Put the coffee-box with logo on top to the right of the lightweight bell with smooth surface."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode287.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the smooth rubikscube with black frame edges using the left arm to the blue toycar's right position.",
+    "Position the small plastic rubikscube directly to the right of the bright sleek toycar.",
+    "Put the multi-colored cube at the right of the toycar with shiny plastic finish",
+    "Ensure the rubikscube is placed on the right of the toycar with transparent windshield.",
+    "Set the smooth rubikscube with black frame edges carefully on the blue top toycar's right side.",
+    "Make sure the multi-sided rubikscube with rotating pieces is placed right of the palm-sized blue toycar.",
+    "Set the smooth rubikscube with black frame edges on the toycar with smooth texture's right side",
+    "Use the left arm to position the colorful rubikscube for twisting and solving to the blue toycar's right.",
+    "Ensure the rubikscube featuring white, green, orange tiles is on the right of the blue and gray toycar.",
+    "Use the left arm to place the small plastic rubikscube right of the bright sleek toycar.",
+    "Use the left arm to set the rubikscube with bright primary colors right of the blue top toycar.",
+    "Set the multi-sided rubikscube with rotating pieces using the left arm at the blue and gray toycar's right",
+    "Grab the small plastic rubikscube using the left arm and place it right of the blue toycar.",
+    "Place the multi-sided rubikscube with rotating pieces precisely to the right of the blue and gray toycar.",
+    "Shift the multi-colored cube to the right of the toycar with shiny plastic finish",
+    "Set the multi-colored cube right next to the blue toycar's right side.",
+    "Position the colorful rubikscube for twisting and solving to the right of the small plastic toycar.",
+    "Using the left arm, position the rubikscube with smooth square tiles to the right of the toycar for kids play.",
+    "Grab the multi-colored cube using the left arm and set it to the blue and gray toycar's right.",
+    "Move the plastic rubikscube with six colored sides to the right beside the bright sleek toycar.",
+    "Set the puzzle rubikscube with 3x3 grid per side on the right side of the blue toycar.",
+    "Use the left arm to set the rubikscube featuring white, green, orange tiles right of the blue and gray toycar.",
+    "Position the plastic rubikscube with six colored sides to the palm-sized blue toycar's right using the left arm",
+    "Use the left arm to place the colorful rubikscube for twisting and solving right of the blue toycar.",
+    "Stick the rubikscube featuring white, green, orange tiles on the toycar for kids play's right side",
+    "Place the rubikscube featuring white, green, orange tiles using the left arm at the toycar with shiny plastic finish's right",
+    "Move the multi-sided rubikscube with rotating pieces to the toycar with transparent windshield's right using the left arm",
+    "Position the small plastic rubikscube at the right side of the toycar for kids play",
+    "Set the plastic rubikscube with six colored sides neatly on the right side of the toycar for kids play.",
+    "Grab the rubikscube featuring white, green, orange tiles using the left arm, then move it to the blue top toycar's right.",
+    "Place the rubikscube showing red and white squares directly on the toycar for kids play's right.",
+    "Grab the puzzle rubikscube with 3x3 grid per side with the left arm and set right of the toycar with smooth texture.",
+    "Position the rubikscube showing red and white squares to the right of the blue and gray toycar.",
+    "Using the left arm, position the plastic rubikscube with six colored sides to the right of the blue and gray toycar.",
+    "Move the rubikscube with bright primary colors and place it to the toycar with transparent windshield's right.",
+    "Place the multi-sided rubikscube with rotating pieces on the right of the small plastic toycar.",
+    "With the left arm, move the small plastic rubikscube to the bright sleek toycar's right.",
+    "Direct the left arm to place the plastic rubikscube with six colored sides right of the toycar with shiny plastic finish.",
+    "Take the colorful rubikscube for twisting and solving with the left arm and position it right of the toycar with smooth texture.",
+    "Move the rubikscube with smooth square tiles and set it to the blue and gray toycar's right.",
+    "Put the colorful rubikscube for twisting and solving using the left arm on the right of the bright sleek toycar.",
+    "Set the rubikscube properly on the right of the small plastic toycar.",
+    "Bring the colorful rubikscube for twisting and solving to the right position of the bright sleek toycar.",
+    "Put the multi-colored cube exactly to the right of the bright sleek toycar.",
+    "Move the rubikscube with bright primary colors and place it carefully to the toycar with smooth texture's right.",
+    "Grab the small plastic rubikscube with the left arm and place it right of the toycar with shiny plastic finish.",
+    "Move the multi-colored cube right of the blue top toycar with the left arm",
+    "Move the colorful rubikscube for twisting and solving to the toycar with shiny wheels's right position.",
+    "Grasp the multi-colored cube with the left arm and move it to the bright sleek toycar's right.",
+    "Set the rubikscube with smooth square tiles down on the toycar with transparent windshield's right side.",
+    "Move the rubikscube featuring white, green, orange tiles using the left arm to the toycar with shiny wheels's right position.",
+    "Position the rubikscube directly to the right of the blue top toycar.",
+    "Put the puzzle rubikscube with 3x3 grid per side at the right of the toycar for kids play",
+    "Ensure the rubikscube showing red and white squares is placed on the right of the blue top toycar.",
+    "Set the small plastic rubikscube carefully on the blue top toycar's right side.",
+    "Make sure the puzzle rubikscube with 3x3 grid per side is placed right of the small plastic toycar.",
+    "Set the rubikscube with smooth square tiles on the blue and gray toycar's right side",
+    "Use the left arm to position the multi-colored cube to the bright sleek toycar's right.",
+    "Ensure the puzzle rubikscube with 3x3 grid per side is on the right of the blue toycar.",
+    "Use the left arm to place the rubikscube right of the toycar with shiny wheels.",
+    "Use the left arm to set the rubikscube right of the blue and gray toycar.",
+    "Set the rubikscube featuring white, green, orange tiles using the left arm at the toycar for kids play's right",
+    "Grab the rubikscube using the left arm and place it right of the small plastic toycar.",
+    "Place the rubikscube with smooth square tiles precisely to the right of the blue toycar.",
+    "Shift the multi-colored cube to the right of the toycar for kids play",
+    "Set the rubikscube with bright primary colors right next to the toycar with black tires's right side.",
+    "Position the colorful rubikscube for twisting and solving to the right of the blue toycar.",
+    "Using the left arm, position the multi-colored cube to the right of the bright sleek toycar.",
+    "Grab the smooth rubikscube with black frame edges using the left arm and set it to the bright sleek toycar's right.",
+    "Move the rubikscube to the right beside the toycar with smooth texture.",
+    "Set the plastic rubikscube with six colored sides on the right side of the toycar for kids play.",
+    "Use the left arm to set the small plastic rubikscube right of the blue toycar.",
+    "Position the rubikscube to the blue toycar's right using the left arm",
+    "Use the left arm to place the rubikscube right of the blue top toycar.",
+    "Stick the rubikscube with smooth square tiles on the small plastic toycar's right side",
+    "Place the colorful rubikscube for twisting and solving using the left arm at the toycar with shiny wheels's right",
+    "Move the multi-colored cube to the toycar for kids play's right using the left arm",
+    "Position the smooth rubikscube with black frame edges at the right side of the palm-sized blue toycar",
+    "Set the rubikscube neatly on the right side of the blue toycar.",
+    "Grab the rubikscube with smooth square tiles using the left arm, then move it to the bright sleek toycar's right.",
+    "Place the smooth rubikscube with black frame edges directly on the blue and gray toycar's right.",
+    "Grab the rubikscube showing red and white squares with the left arm and set right of the toycar with transparent windshield.",
+    "Position the rubikscube featuring white, green, orange tiles to the right of the toycar with black tires.",
+    "Using the left arm, position the plastic rubikscube with six colored sides to the right of the blue and gray toycar.",
+    "Move the rubikscube featuring white, green, orange tiles and place it to the toycar with shiny wheels's right.",
+    "Place the small plastic rubikscube on the right of the blue and gray toycar.",
+    "With the left arm, move the multi-colored cube to the toycar with transparent windshield's right.",
+    "Direct the left arm to place the multi-sided rubikscube with rotating pieces right of the toycar with shiny wheels.",
+    "Take the smooth rubikscube with black frame edges with the left arm and position it right of the small plastic toycar.",
+    "Move the plastic rubikscube with six colored sides and set it to the toycar with black tires's right.",
+    "Put the plastic rubikscube with six colored sides using the left arm on the right of the blue top toycar.",
+    "Set the plastic rubikscube with six colored sides properly on the right of the toycar with transparent windshield.",
+    "Bring the colorful rubikscube for twisting and solving to the right position of the toycar with smooth texture.",
+    "Put the colorful rubikscube for twisting and solving exactly to the right of the blue top toycar.",
+    "Move the colorful rubikscube for twisting and solving and place it carefully to the toycar for kids play's right.",
+    "Grab the smooth rubikscube with black frame edges with the left arm and place it right of the toycar for kids play.",
+    "Move the small plastic rubikscube right of the toycar with black tires with the left arm",
+    "Move the rubikscube with smooth square tiles to the toycar with transparent windshield's right position.",
+    "Grasp the rubikscube with smooth square tiles with the left arm and move it to the blue and gray toycar's right.",
+    "Set the smooth rubikscube with black frame edges down on the palm-sized blue toycar's right side."
+  ],
+  "unseen": [
+    "Place the toy cube with orange and blue squares rightward of the toycar with rounded body using the left arm",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels.",
+    "Grab the hand-sized rubikscube with colored squares and place it right of the toycar with rounded body.",
+    "Place the toy cube with orange and blue squares on the gray base toycar's right side.",
+    "Put the red, blue, green, yellow rubikscube to the right of the toycar with rounded body.",
+    "Set the toy cube with orange and blue squares to the right of the compact toycar with rotating wheels.",
+    "Put the red, blue, green, yellow rubikscube to the right of the gray base toycar.",
+    "Put the red, blue, green, yellow rubikscube to the right of the toycar with rounded body",
+    "Place the toy cube with orange and blue squares on the right of the toycar with rounded body.",
+    "Set the hand-sized rubikscube with colored squares on the right of the toycar with rounded body.",
+    "Place the red, blue, green, yellow rubikscube rightward of the gray base toycar using the left arm",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels.",
+    "Grab the hand-sized rubikscube with colored squares and place it right of the toycar with rounded body.",
+    "Place the hand-sized rubikscube with colored squares on the compact toycar with rotating wheels's right side.",
+    "Put the toy cube with orange and blue squares to the right of the compact toycar with rotating wheels.",
+    "Set the red, blue, green, yellow rubikscube to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the gray base toycar.",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels",
+    "Place the red, blue, green, yellow rubikscube on the right of the gray base toycar.",
+    "Set the red, blue, green, yellow rubikscube on the right of the toycar with rounded body.",
+    "Place the hand-sized rubikscube with colored squares rightward of the toycar with rounded body using the left arm",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar.",
+    "Grab the toy cube with orange and blue squares and place it right of the gray base toycar.",
+    "Place the hand-sized rubikscube with colored squares on the compact toycar with rotating wheels's right side.",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Set the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the gray base toycar.",
+    "Put the toy cube with orange and blue squares to the right of the compact toycar with rotating wheels",
+    "Place the red, blue, green, yellow rubikscube on the right of the compact toycar with rotating wheels.",
+    "Set the toy cube with orange and blue squares on the right of the toycar with rounded body.",
+    "Place the toy cube with orange and blue squares rightward of the toycar with rounded body using the left arm",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels.",
+    "Grab the hand-sized rubikscube with colored squares and place it right of the toycar with rounded body.",
+    "Place the red, blue, green, yellow rubikscube on the toycar with rounded body's right side.",
+    "Put the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Set the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels",
+    "Place the hand-sized rubikscube with colored squares on the right of the gray base toycar.",
+    "Set the hand-sized rubikscube with colored squares on the right of the gray base toycar.",
+    "Place the hand-sized rubikscube with colored squares rightward of the compact toycar with rotating wheels using the left arm",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Grab the red, blue, green, yellow rubikscube and place it right of the compact toycar with rotating wheels.",
+    "Place the red, blue, green, yellow rubikscube on the gray base toycar's right side.",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Set the toy cube with orange and blue squares to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the gray base toycar.",
+    "Put the hand-sized rubikscube with colored squares to the right of the gray base toycar",
+    "Place the hand-sized rubikscube with colored squares on the right of the toycar with rounded body.",
+    "Set the toy cube with orange and blue squares on the right of the toycar with rounded body.",
+    "Place the toy cube with orange and blue squares rightward of the compact toycar with rotating wheels using the left arm",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels.",
+    "Grab the hand-sized rubikscube with colored squares and place it right of the toycar with rounded body.",
+    "Place the hand-sized rubikscube with colored squares on the compact toycar with rotating wheels's right side.",
+    "Put the toy cube with orange and blue squares to the right of the compact toycar with rotating wheels.",
+    "Set the toy cube with orange and blue squares to the right of the compact toycar with rotating wheels.",
+    "Put the hand-sized rubikscube with colored squares to the right of the gray base toycar.",
+    "Put the hand-sized rubikscube with colored squares to the right of the toycar with rounded body",
+    "Place the toy cube with orange and blue squares on the right of the toycar with rounded body.",
+    "Set the hand-sized rubikscube with colored squares on the right of the toycar with rounded body.",
+    "Place the red, blue, green, yellow rubikscube rightward of the compact toycar with rotating wheels using the left arm",
+    "Put the red, blue, green, yellow rubikscube to the right of the compact toycar with rotating wheels.",
+    "Grab the red, blue, green, yellow rubikscube and place it right of the gray base toycar.",
+    "Place the toy cube with orange and blue squares on the toycar with rounded body's right side.",
+    "Put the toy cube with orange and blue squares to the right of the toycar with rounded body.",
+    "Set the red, blue, green, yellow rubikscube to the right of the gray base toycar.",
+    "Put the red, blue, green, yellow rubikscube to the right of the toycar with rounded body.",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar",
+    "Place the hand-sized rubikscube with colored squares on the right of the compact toycar with rotating wheels.",
+    "Set the toy cube with orange and blue squares on the right of the compact toycar with rotating wheels.",
+    "Place the hand-sized rubikscube with colored squares rightward of the toycar with rounded body using the left arm",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Grab the red, blue, green, yellow rubikscube and place it right of the gray base toycar.",
+    "Place the hand-sized rubikscube with colored squares on the compact toycar with rotating wheels's right side.",
+    "Put the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Set the hand-sized rubikscube with colored squares to the right of the compact toycar with rotating wheels.",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar.",
+    "Put the red, blue, green, yellow rubikscube to the right of the toycar with rounded body",
+    "Place the red, blue, green, yellow rubikscube on the right of the toycar with rounded body.",
+    "Set the toy cube with orange and blue squares on the right of the gray base toycar.",
+    "Place the toy cube with orange and blue squares rightward of the compact toycar with rotating wheels using the left arm",
+    "Put the toy cube with orange and blue squares to the right of the toycar with rounded body.",
+    "Grab the toy cube with orange and blue squares and place it right of the toycar with rounded body.",
+    "Place the hand-sized rubikscube with colored squares on the compact toycar with rotating wheels's right side.",
+    "Put the red, blue, green, yellow rubikscube to the right of the gray base toycar.",
+    "Set the red, blue, green, yellow rubikscube to the right of the toycar with rounded body.",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar.",
+    "Put the red, blue, green, yellow rubikscube to the right of the toycar with rounded body",
+    "Place the hand-sized rubikscube with colored squares on the right of the compact toycar with rotating wheels.",
+    "Set the hand-sized rubikscube with colored squares on the right of the toycar with rounded body.",
+    "Place the toy cube with orange and blue squares rightward of the gray base toycar using the left arm",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar.",
+    "Grab the toy cube with orange and blue squares and place it right of the toycar with rounded body.",
+    "Place the red, blue, green, yellow rubikscube on the toycar with rounded body's right side.",
+    "Put the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Set the toy cube with orange and blue squares to the right of the toycar with rounded body.",
+    "Put the hand-sized rubikscube with colored squares to the right of the toycar with rounded body.",
+    "Put the toy cube with orange and blue squares to the right of the gray base toycar",
+    "Place the red, blue, green, yellow rubikscube on the right of the compact toycar with rotating wheels.",
+    "Set the toy cube with orange and blue squares on the right of the gray base toycar."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode30.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the playingcards storage box using the right arm and set it to the solid woodenblock's right.",
+    "Move the smooth playingcards pack and place it to the light brown cylinder woodenblock's right.",
+    "Bring the playingcards box with white accents to the right position of the grainy-textured woodenblock.",
+    "Grasp the yellow and red playingcards box with the right arm and move it to the palm-sized woodenblock's right.",
+    "Move the box for playingcards to the grainy-textured woodenblock's right position.",
+    "Place the compact red playingcards pack precisely to the right of the solid woodenblock.",
+    "Ensure the red and yellow playingcards case is placed on the right of the grainy-textured woodenblock.",
+    "Move the smooth playingcards pack and place it carefully to the grainy-textured woodenblock's right.",
+    "Grab the red and yellow playingcards case with the right arm and place it right of the smooth woodenblock.",
+    "Take the rectangular playingcards case with the right arm and position it right of the light brown cylinder woodenblock.",
+    "Direct the right arm to place the box for playingcards right of the light brown cylinder woodenblock.",
+    "Use the right arm to position the rectangular playingcards case to the light brown cylinder woodenblock's right.",
+    "Put the red and yellow playingcards case exactly to the right of the cylinder-shaped woodenblock.",
+    "Use the right arm to place the hand-sized playingcards container right of the small woodenblock.",
+    "Set the playingcards box with white accents on the right side of the grainy-textured woodenblock.",
+    "Move the playingcards storage box to the right beside the cylinder-shaped woodenblock.",
+    "With the right arm, move the box for playingcards to the smooth woodenblock's right.",
+    "Position the playingcards storage box to the right of the grainy-textured woodenblock.",
+    "Position the small playingcards pack to the light brown woodenblock's right using the right arm",
+    "Stick the box for playingcards on the small light brown woodenblock's right side",
+    "Set the smooth playingcards pack properly on the right of the cylinder-shaped woodenblock.",
+    "Using the right arm, position the glossy rectangular playingcards box to the right of the woodenblock with rounded edges.",
+    "Using the right arm, position the red and yellow playingcards case to the right of the circular-ended woodenblock.",
+    "Use the right arm to set the small playingcards pack right of the woodenblock with rounded edges.",
+    "Ensure the hand-sized playingcards container is on the right of the palm-sized woodenblock.",
+    "Shift the glossy rectangular playingcards box to the right of the small woodenblock",
+    "Set the playingcards box with white accents on the light brown woodenblock's right side",
+    "Place the hand-sized playingcards container using the right arm at the small woodenblock's right",
+    "Grab the red and yellow playingcards case with the right arm and set right of the grainy-textured woodenblock.",
+    "Use the right arm to place the red and yellow playingcards case right of the palm-sized woodenblock.",
+    "Move the smooth playingcards pack right of the palm-sized woodenblock with the right arm",
+    "Grab the yellow and red playingcards box using the right arm, then move it to the smooth woodenblock's right.",
+    "Move the smooth playingcards pack to the smooth woodenblock's right using the right arm",
+    "Put the rectangular playingcards case using the right arm on the right of the light brown woodenblock.",
+    "Move the red playingcards box using the right arm to the small woodenblock's right position.",
+    "Set the small playingcards pack right next to the solid woodenblock's right side.",
+    "Place the small playingcards pack on the right of the cylinder-shaped woodenblock.",
+    "Set the yellow and red playingcards box using the right arm at the woodenblock with rounded edges's right",
+    "Position the compact red playingcards pack directly to the right of the circular-ended woodenblock.",
+    "Position the playingcards box with white accents to the right of the grainy-textured woodenblock.",
+    "Set the hand-sized playingcards container down on the woodenblock with rounded edges's right side.",
+    "Position the glossy rectangular playingcards box at the right side of the small woodenblock",
+    "Use the right arm to set the playingcards box with white accents right of the smooth woodenblock.",
+    "Make sure the red playingcards box is placed right of the light brown cylinder woodenblock.",
+    "Set the red and yellow playingcards case carefully on the smooth light brown woodenblock's right side.",
+    "Place the small playingcards pack directly on the solid woodenblock's right.",
+    "Grab the playingcards box with white accents using the right arm and place it right of the solid woodenblock.",
+    "Put the glossy rectangular playingcards box at the right of the circular-ended woodenblock",
+    "Move the hand-sized playingcards container and set it to the cylinder-shaped woodenblock's right.",
+    "Set the smooth playingcards pack neatly on the right side of the grainy-textured woodenblock.",
+    "Grab the red and yellow playingcards case using the right arm and set it to the circular-ended woodenblock's right.",
+    "Move the playingcards storage box and place it to the woodenblock with rounded edges's right.",
+    "Bring the yellow and red playingcards box to the right position of the smooth woodenblock.",
+    "Grasp the playingcards box with white accents with the right arm and move it to the smooth light brown woodenblock's right.",
+    "Move the playingcards storage box to the palm-sized woodenblock's right position.",
+    "Place the playingcards box with white accents precisely to the right of the light brown woodenblock.",
+    "Ensure the red playingcards box is placed on the right of the cylinder-shaped woodenblock.",
+    "Move the red playingcards box and place it carefully to the grainy-textured woodenblock's right.",
+    "Grab the playingcards box with white accents with the right arm and place it right of the small woodenblock.",
+    "Take the red and yellow playingcards case with the right arm and position it right of the solid woodenblock.",
+    "Direct the right arm to place the rectangular playingcards case right of the cylinder-shaped woodenblock.",
+    "Use the right arm to position the playingcards box with white accents to the small light brown woodenblock's right.",
+    "Put the playingcards storage box exactly to the right of the solid woodenblock.",
+    "Use the right arm to place the playingcards box with white accents right of the small light brown woodenblock.",
+    "Set the hand-sized playingcards container on the right side of the cylinder-shaped woodenblock.",
+    "Move the playingcards storage box to the right beside the light brown woodenblock.",
+    "With the right arm, move the small playingcards pack to the light brown woodenblock's right.",
+    "Position the box for playingcards to the right of the small light brown woodenblock.",
+    "Position the playingcards storage box to the circular-ended woodenblock's right using the right arm",
+    "Stick the yellow and red playingcards box on the light brown cylinder woodenblock's right side",
+    "Set the playingcards storage box properly on the right of the small light brown woodenblock.",
+    "Using the right arm, position the rectangular playingcards case to the right of the small light brown woodenblock.",
+    "Using the right arm, position the yellow and red playingcards box to the right of the small light brown woodenblock.",
+    "Use the right arm to set the playingcards box with white accents right of the smooth light brown woodenblock.",
+    "Ensure the rectangular playingcards case is on the right of the small light brown woodenblock.",
+    "Shift the compact red playingcards pack to the right of the cylinder-shaped woodenblock",
+    "Set the red playingcards box on the solid woodenblock's right side",
+    "Place the hand-sized playingcards container using the right arm at the light brown cylinder woodenblock's right",
+    "Grab the compact red playingcards pack with the right arm and set right of the smooth light brown woodenblock.",
+    "Use the right arm to place the playingcards box with white accents right of the small light brown woodenblock.",
+    "Move the box for playingcards right of the smooth woodenblock with the right arm",
+    "Grab the glossy rectangular playingcards box using the right arm, then move it to the solid woodenblock's right.",
+    "Move the smooth playingcards pack to the solid woodenblock's right using the right arm",
+    "Put the rectangular playingcards case using the right arm on the right of the small light brown woodenblock.",
+    "Move the compact red playingcards pack using the right arm to the small woodenblock's right position.",
+    "Set the playingcards storage box right next to the small woodenblock's right side.",
+    "Place the yellow and red playingcards box on the right of the circular-ended woodenblock.",
+    "Set the red and yellow playingcards case using the right arm at the smooth woodenblock's right",
+    "Position the playingcards storage box directly to the right of the grainy-textured woodenblock.",
+    "Position the box for playingcards to the right of the solid woodenblock.",
+    "Set the glossy rectangular playingcards box down on the smooth light brown woodenblock's right side.",
+    "Position the red playingcards box at the right side of the smooth light brown woodenblock",
+    "Use the right arm to set the box for playingcards right of the light brown cylinder woodenblock.",
+    "Make sure the rectangular playingcards case is placed right of the light brown cylinder woodenblock.",
+    "Set the red playingcards box carefully on the grainy-textured woodenblock's right side.",
+    "Place the rectangular playingcards case directly on the light brown cylinder woodenblock's right.",
+    "Grab the smooth playingcards pack using the right arm and place it right of the small woodenblock.",
+    "Put the box for playingcards at the right of the smooth woodenblock",
+    "Move the compact red playingcards pack and set it to the cylinder-shaped woodenblock's right.",
+    "Set the box for playingcards neatly on the right side of the solid woodenblock."
+  ],
+  "unseen": [
+    "Put the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Put the playingcards with red packaging to the right of the woodenblock for stacking.",
+    "Place the small box for playingcards on the right of the woodenblock for stacking.",
+    "Place the rectangular red playingcards holder on the rounded woodenblock with grain texture's right side.",
+    "Grab the playingcards with red packaging and place it right of the woodenblock with circular sides.",
+    "Place the rectangular red playingcards holder rightward of the woodenblock for stacking using the right arm",
+    "Set the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Set the playingcards with red packaging on the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the rounded woodenblock with grain texture.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides",
+    "Put the rectangular red playingcards holder to the right of the woodenblock for stacking.",
+    "Put the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Place the playingcards with red packaging on the right of the rounded woodenblock with grain texture.",
+    "Place the rectangular red playingcards holder on the rounded woodenblock with grain texture's right side.",
+    "Grab the rectangular red playingcards holder and place it right of the woodenblock with circular sides.",
+    "Place the rectangular red playingcards holder rightward of the woodenblock with circular sides using the right arm",
+    "Set the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Set the playingcards with red packaging on the right of the rounded woodenblock with grain texture.",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the rounded woodenblock with grain texture",
+    "Put the playingcards with red packaging to the right of the rounded woodenblock with grain texture.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking.",
+    "Place the small box for playingcards on the right of the rounded woodenblock with grain texture.",
+    "Place the small box for playingcards on the rounded woodenblock with grain texture's right side.",
+    "Grab the rectangular red playingcards holder and place it right of the woodenblock for stacking.",
+    "Place the rectangular red playingcards holder rightward of the woodenblock for stacking using the right arm",
+    "Set the playingcards with red packaging to the right of the rounded woodenblock with grain texture.",
+    "Set the rectangular red playingcards holder on the right of the woodenblock for stacking.",
+    "Put the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the woodenblock with circular sides",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the woodenblock with circular sides.",
+    "Place the small box for playingcards on the right of the woodenblock with circular sides.",
+    "Place the small box for playingcards on the woodenblock for stacking's right side.",
+    "Grab the playingcards with red packaging and place it right of the woodenblock for stacking.",
+    "Place the small box for playingcards rightward of the rounded woodenblock with grain texture using the right arm",
+    "Set the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture.",
+    "Set the rectangular red playingcards holder on the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking.",
+    "Put the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture",
+    "Put the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock for stacking.",
+    "Place the rectangular red playingcards holder on the right of the rounded woodenblock with grain texture.",
+    "Place the small box for playingcards on the woodenblock for stacking's right side.",
+    "Grab the playingcards with red packaging and place it right of the rounded woodenblock with grain texture.",
+    "Place the playingcards with red packaging rightward of the woodenblock for stacking using the right arm",
+    "Set the small box for playingcards to the right of the woodenblock for stacking.",
+    "Set the small box for playingcards on the right of the woodenblock for stacking.",
+    "Put the playingcards with red packaging to the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the woodenblock for stacking",
+    "Put the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Place the rectangular red playingcards holder on the right of the woodenblock for stacking.",
+    "Place the small box for playingcards on the woodenblock for stacking's right side.",
+    "Grab the small box for playingcards and place it right of the woodenblock for stacking.",
+    "Place the playingcards with red packaging rightward of the rounded woodenblock with grain texture using the right arm",
+    "Set the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Set the playingcards with red packaging on the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking.",
+    "Place the small box for playingcards on the right of the woodenblock with circular sides.",
+    "Place the playingcards with red packaging on the woodenblock with circular sides's right side.",
+    "Grab the rectangular red playingcards holder and place it right of the woodenblock with circular sides.",
+    "Place the rectangular red playingcards holder rightward of the woodenblock with circular sides using the right arm",
+    "Set the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture.",
+    "Set the playingcards with red packaging on the right of the rounded woodenblock with grain texture.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking",
+    "Put the small box for playingcards to the right of the rounded woodenblock with grain texture.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking.",
+    "Place the rectangular red playingcards holder on the right of the woodenblock with circular sides.",
+    "Place the small box for playingcards on the woodenblock with circular sides's right side.",
+    "Grab the rectangular red playingcards holder and place it right of the woodenblock with circular sides.",
+    "Place the rectangular red playingcards holder rightward of the woodenblock with circular sides using the right arm",
+    "Set the playingcards with red packaging to the right of the woodenblock for stacking.",
+    "Set the playingcards with red packaging on the right of the woodenblock with circular sides.",
+    "Put the small box for playingcards to the right of the woodenblock for stacking.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides",
+    "Put the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture.",
+    "Put the small box for playingcards to the right of the woodenblock with circular sides.",
+    "Place the small box for playingcards on the right of the woodenblock with circular sides.",
+    "Place the small box for playingcards on the woodenblock for stacking's right side.",
+    "Grab the small box for playingcards and place it right of the rounded woodenblock with grain texture.",
+    "Place the small box for playingcards rightward of the rounded woodenblock with grain texture using the right arm",
+    "Set the playingcards with red packaging to the right of the woodenblock with circular sides.",
+    "Set the small box for playingcards on the right of the rounded woodenblock with grain texture.",
+    "Put the playingcards with red packaging to the right of the woodenblock with circular sides.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides.",
+    "Put the rectangular red playingcards holder to the right of the rounded woodenblock with grain texture.",
+    "Place the small box for playingcards on the right of the woodenblock for stacking.",
+    "Place the playingcards with red packaging on the rounded woodenblock with grain texture's right side.",
+    "Grab the rectangular red playingcards holder and place it right of the woodenblock with circular sides.",
+    "Place the small box for playingcards rightward of the woodenblock for stacking using the right arm",
+    "Set the rectangular red playingcards holder to the right of the woodenblock with circular sides.",
+    "Set the rectangular red playingcards holder on the right of the woodenblock with circular sides.",
+    "Put the playingcards with red packaging to the right of the rounded woodenblock with grain texture.",
+    "Put the rectangular red playingcards holder to the right of the woodenblock with circular sides"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode362.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the compact box for playing cards directly to the right of the coffee-box with Nescafe branding.",
+    "Position the black playing cards box at the right side of the coffee-box with smooth finish",
+    "Position the box with cards inside to the right of the rectangular red coffee-box.",
+    "Position the playing cards box with gold text to the right of the coffee-box with sachets.",
+    "Bring the box with cards inside to the right position of the coffee-box with sachets.",
+    "Take the cardboard playing cards box with the right arm and position it right of the rectangular box holding coffee sachets.",
+    "Use the right arm to set the rectangular box for card storage right of the medium rectangular red coffee-box.",
+    "Ensure the box with cards inside is on the right of the rectangular box holding coffee sachets.",
+    "Move the black playing cards box to the rectangular box holding coffee sachets's right using the right arm",
+    "Grab the black box with rectangular shape using the right arm and set it to the medium rectangular red coffee-box's right.",
+    "Move the black playing cards box and set it to the Nescafe coffee-box with shiny surface's right.",
+    "Using the right arm, position the rectangle-shaped cards box to the right of the red coffee-box.",
+    "Grab the box holding playing cards using the right arm, then move it to the red box for coffee sachets's right.",
+    "Set the palm-sized box for playing cards on the smooth glossy coffee-box's right side",
+    "Place the rectangular box for card storage using the right arm at the rectangular box holding coffee sachets's right",
+    "Using the right arm, position the black playing cards box to the right of the rectangular box holding coffee sachets.",
+    "Shift the rectangular box for card storage to the right of the coffee-box with sachets",
+    "Set the box with cards inside properly on the right of the red coffee-box.",
+    "Move the small black box with cards and place it to the red box for coffee sachets's right.",
+    "Use the right arm to position the box holding playing cards to the red coffee-box's right.",
+    "Grasp the compact box for playing cards with the right arm and move it to the rectangular box holding coffee sachets's right.",
+    "Stick the rectangular box for card storage on the coffee-box with creamy coffee image's right side",
+    "Grab the cardboard playing cards box with the right arm and place it right of the smooth glossy coffee-box.",
+    "Set the box holding playing cards right next to the Nescafe coffee-box with shiny surface's right side.",
+    "Grab the box with cards inside using the right arm and place it right of the coffee-box with Nescafe branding.",
+    "Set the palm-sized box for playing cards down on the rectangular red coffee-box's right side.",
+    "Use the right arm to set the compact box for playing cards right of the rectangular red coffee-box.",
+    "Put the box with cards inside exactly to the right of the coffee-box with Nescafe branding.",
+    "With the right arm, move the box with cards inside to the red coffee-box's right.",
+    "Place the box with cards inside precisely to the right of the coffee-box with sachets.",
+    "Use the right arm to place the box with cards inside right of the red box for coffee sachets.",
+    "Set the black box with rectangular shape on the right side of the coffee-box with smooth finish.",
+    "Place the box with cards inside on the right of the medium rectangular red coffee-box.",
+    "Move the palm-sized box for playing cards and place it carefully to the coffee-box with smooth finish's right.",
+    "Move the rectangle-shaped cards box to the right beside the coffee-box with Nescafe branding.",
+    "Set the smooth black cards container neatly on the right side of the Nescafe coffee-box with shiny surface.",
+    "Move the playing cards box with gold text using the right arm to the coffee-box with smooth finish's right position.",
+    "Put the rectangle-shaped cards box at the right of the coffee-box with creamy coffee image",
+    "Set the rectangular box for card storage carefully on the coffee-box with creamy coffee image's right side.",
+    "Put the playing cards box with gold text using the right arm on the right of the Nescafe coffee-box with shiny surface.",
+    "Move the black box with rectangular shape to the rectangular box holding coffee sachets's right position.",
+    "Position the black box with rectangular shape to the medium rectangular red coffee-box's right using the right arm",
+    "Grab the palm-sized box for playing cards with the right arm and set right of the medium rectangular red coffee-box.",
+    "Use the right arm to place the compact box for playing cards right of the coffee-box with smooth finish.",
+    "Direct the right arm to place the palm-sized box for playing cards right of the red coffee-box.",
+    "Ensure the compact box for playing cards is placed on the right of the rectangular box holding coffee sachets.",
+    "Move the black box with rectangular shape right of the Nescafe coffee-box with shiny surface with the right arm",
+    "Make sure the box holding playing cards is placed right of the coffee-box with sachets.",
+    "Place the rectangle-shaped cards box directly on the medium rectangular red coffee-box's right.",
+    "Set the cardboard playing cards box using the right arm at the Nescafe coffee-box with shiny surface's right",
+    "Position the playing cards box with gold text directly to the right of the coffee-box with sachets.",
+    "Position the rectangle-shaped cards box at the right side of the medium rectangular red coffee-box",
+    "Position the box holding playing cards to the right of the red coffee-box.",
+    "Position the small black box with cards to the right of the Nescafe coffee-box with shiny surface.",
+    "Bring the small black box with cards to the right position of the coffee-box with smooth finish.",
+    "Take the palm-sized box for playing cards with the right arm and position it right of the smooth glossy coffee-box.",
+    "Use the right arm to set the box holding playing cards right of the smooth glossy coffee-box.",
+    "Ensure the black playing cards box is on the right of the red coffee-box.",
+    "Move the smooth black cards container to the rectangular red coffee-box's right using the right arm",
+    "Grab the rectangular box for card storage using the right arm and set it to the Nescafe coffee-box with shiny surface's right.",
+    "Move the playing cards box with gold text and set it to the red box for coffee sachets's right.",
+    "Using the right arm, position the rectangle-shaped cards box to the right of the red coffee-box.",
+    "Grab the compact box for playing cards using the right arm, then move it to the red box for coffee sachets's right.",
+    "Set the black playing cards box on the coffee-box with sachets's right side",
+    "Place the compact box for playing cards using the right arm at the bright red coffee-box's right",
+    "Using the right arm, position the black box with rectangular shape to the right of the coffee-box with smooth finish.",
+    "Shift the rectangle-shaped cards box to the right of the smooth glossy coffee-box",
+    "Set the black playing cards box properly on the right of the Nescafe coffee-box with shiny surface.",
+    "Move the smooth black cards container and place it to the medium rectangular red coffee-box's right.",
+    "Use the right arm to position the smooth black cards container to the Nescafe coffee-box with shiny surface's right.",
+    "Grasp the black box with rectangular shape with the right arm and move it to the rectangular box holding coffee sachets's right.",
+    "Stick the black playing cards box on the coffee-box with smooth finish's right side",
+    "Grab the rectangular box for card storage with the right arm and place it right of the coffee-box with smooth finish.",
+    "Set the box holding playing cards right next to the bright red coffee-box's right side.",
+    "Grab the playing cards box with gold text using the right arm and place it right of the rectangular red coffee-box.",
+    "Set the black playing cards box down on the rectangular box holding coffee sachets's right side.",
+    "Use the right arm to set the rectangle-shaped cards box right of the medium rectangular red coffee-box.",
+    "Put the rectangle-shaped cards box exactly to the right of the coffee-box with sachets.",
+    "With the right arm, move the compact box for playing cards to the coffee-box with Nescafe branding's right.",
+    "Place the compact box for playing cards precisely to the right of the red box for coffee sachets.",
+    "Use the right arm to place the rectangle-shaped cards box right of the smooth glossy coffee-box.",
+    "Set the small black box with cards on the right side of the smooth glossy coffee-box.",
+    "Place the compact box for playing cards on the right of the rectangular red coffee-box.",
+    "Move the rectangle-shaped cards box and place it carefully to the coffee-box with Nescafe branding's right.",
+    "Move the cardboard playing cards box to the right beside the coffee-box with smooth finish.",
+    "Set the box holding playing cards neatly on the right side of the coffee-box with sachets.",
+    "Move the palm-sized box for playing cards using the right arm to the red coffee-box's right position.",
+    "Put the small black box with cards at the right of the medium rectangular red coffee-box",
+    "Set the palm-sized box for playing cards carefully on the red box for coffee sachets's right side.",
+    "Put the black box with rectangular shape using the right arm on the right of the rectangular box holding coffee sachets.",
+    "Move the box with cards inside to the coffee-box with creamy coffee image's right position.",
+    "Position the small black box with cards to the coffee-box with Nescafe branding's right using the right arm",
+    "Grab the box with cards inside with the right arm and set right of the smooth glossy coffee-box.",
+    "Use the right arm to place the playing cards box with gold text right of the coffee-box with creamy coffee image.",
+    "Direct the right arm to place the smooth black cards container right of the coffee-box with creamy coffee image.",
+    "Ensure the black playing cards box is placed on the right of the rectangular box holding coffee sachets.",
+    "Move the black playing cards box right of the red coffee-box with the right arm",
+    "Make sure the cardboard playing cards box is placed right of the red coffee-box.",
+    "Place the palm-sized box for playing cards directly on the coffee-box with smooth finish's right.",
+    "Set the black playing cards box using the right arm at the coffee-box with sachets's right"
+  ],
+  "unseen": [
+    "Set the hard black box for card deck on the right of the box with coffee graphics.",
+    "Set the gold text on playing cards box to the right of the medium coffee-box.",
+    "Grab the hard black box for card deck and place it right of the medium coffee-box.",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Place the gold text on playing cards box on the right of the box with coffee graphics.",
+    "Place the black box with smooth surface rightward of the box with coffee graphics using the right arm",
+    "Place the gold text on playing cards box on the cardboard coffee-box's right side.",
+    "Put the black box with smooth surface to the right of the medium coffee-box",
+    "Put the hard black box for card deck to the right of the medium coffee-box.",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Set the gold text on playing cards box on the right of the cardboard coffee-box.",
+    "Set the black box with smooth surface to the right of the medium coffee-box.",
+    "Grab the hard black box for card deck and place it right of the cardboard coffee-box.",
+    "Put the black box with smooth surface to the right of the medium coffee-box.",
+    "Place the black box with smooth surface on the right of the medium coffee-box.",
+    "Place the black box with smooth surface rightward of the box with coffee graphics using the right arm",
+    "Place the gold text on playing cards box on the cardboard coffee-box's right side.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box",
+    "Put the gold text on playing cards box to the right of the medium coffee-box.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Set the hard black box for card deck on the right of the cardboard coffee-box.",
+    "Set the gold text on playing cards box to the right of the box with coffee graphics.",
+    "Grab the hard black box for card deck and place it right of the cardboard coffee-box.",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Place the hard black box for card deck on the right of the box with coffee graphics.",
+    "Place the black box with smooth surface rightward of the cardboard coffee-box using the right arm",
+    "Place the black box with smooth surface on the cardboard coffee-box's right side.",
+    "Put the hard black box for card deck to the right of the box with coffee graphics",
+    "Put the gold text on playing cards box to the right of the cardboard coffee-box.",
+    "Put the black box with smooth surface to the right of the medium coffee-box.",
+    "Set the hard black box for card deck on the right of the cardboard coffee-box.",
+    "Set the black box with smooth surface to the right of the medium coffee-box.",
+    "Grab the black box with smooth surface and place it right of the box with coffee graphics.",
+    "Put the gold text on playing cards box to the right of the medium coffee-box.",
+    "Place the hard black box for card deck on the right of the cardboard coffee-box.",
+    "Place the gold text on playing cards box rightward of the medium coffee-box using the right arm",
+    "Place the hard black box for card deck on the medium coffee-box's right side.",
+    "Put the black box with smooth surface to the right of the box with coffee graphics",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Put the gold text on playing cards box to the right of the box with coffee graphics.",
+    "Set the gold text on playing cards box on the right of the box with coffee graphics.",
+    "Set the black box with smooth surface to the right of the box with coffee graphics.",
+    "Grab the hard black box for card deck and place it right of the box with coffee graphics.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Place the gold text on playing cards box on the right of the box with coffee graphics.",
+    "Place the gold text on playing cards box rightward of the medium coffee-box using the right arm",
+    "Place the black box with smooth surface on the box with coffee graphics's right side.",
+    "Put the gold text on playing cards box to the right of the cardboard coffee-box",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Put the gold text on playing cards box to the right of the cardboard coffee-box.",
+    "Set the gold text on playing cards box on the right of the cardboard coffee-box.",
+    "Set the gold text on playing cards box to the right of the medium coffee-box.",
+    "Grab the hard black box for card deck and place it right of the cardboard coffee-box.",
+    "Put the black box with smooth surface to the right of the medium coffee-box.",
+    "Place the gold text on playing cards box on the right of the cardboard coffee-box.",
+    "Place the hard black box for card deck rightward of the box with coffee graphics using the right arm",
+    "Place the gold text on playing cards box on the box with coffee graphics's right side.",
+    "Put the gold text on playing cards box to the right of the medium coffee-box",
+    "Put the gold text on playing cards box to the right of the medium coffee-box.",
+    "Put the hard black box for card deck to the right of the medium coffee-box.",
+    "Set the hard black box for card deck on the right of the cardboard coffee-box.",
+    "Set the black box with smooth surface to the right of the box with coffee graphics.",
+    "Grab the black box with smooth surface and place it right of the box with coffee graphics.",
+    "Put the hard black box for card deck to the right of the cardboard coffee-box.",
+    "Place the hard black box for card deck on the right of the cardboard coffee-box.",
+    "Place the black box with smooth surface rightward of the box with coffee graphics using the right arm",
+    "Place the gold text on playing cards box on the medium coffee-box's right side.",
+    "Put the hard black box for card deck to the right of the medium coffee-box",
+    "Put the black box with smooth surface to the right of the medium coffee-box.",
+    "Put the gold text on playing cards box to the right of the medium coffee-box.",
+    "Set the black box with smooth surface on the right of the box with coffee graphics.",
+    "Set the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Grab the gold text on playing cards box and place it right of the medium coffee-box.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Place the black box with smooth surface on the right of the box with coffee graphics.",
+    "Place the hard black box for card deck rightward of the medium coffee-box using the right arm",
+    "Place the hard black box for card deck on the medium coffee-box's right side.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box",
+    "Put the hard black box for card deck to the right of the cardboard coffee-box.",
+    "Put the black box with smooth surface to the right of the box with coffee graphics.",
+    "Set the gold text on playing cards box on the right of the medium coffee-box.",
+    "Set the hard black box for card deck to the right of the medium coffee-box.",
+    "Grab the gold text on playing cards box and place it right of the medium coffee-box.",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Place the hard black box for card deck on the right of the medium coffee-box.",
+    "Place the black box with smooth surface rightward of the box with coffee graphics using the right arm",
+    "Place the hard black box for card deck on the box with coffee graphics's right side.",
+    "Put the hard black box for card deck to the right of the box with coffee graphics",
+    "Put the black box with smooth surface to the right of the cardboard coffee-box.",
+    "Put the gold text on playing cards box to the right of the cardboard coffee-box.",
+    "Set the black box with smooth surface on the right of the cardboard coffee-box.",
+    "Set the gold text on playing cards box to the right of the medium coffee-box.",
+    "Grab the hard black box for card deck and place it right of the box with coffee graphics.",
+    "Put the black box with smooth surface to the right of the medium coffee-box.",
+    "Place the black box with smooth surface on the right of the medium coffee-box.",
+    "Place the black box with smooth surface rightward of the cardboard coffee-box using the right arm",
+    "Place the black box with smooth surface on the box with coffee graphics's right side.",
+    "Put the black box with smooth surface to the right of the box with coffee graphics",
+    "Put the hard black box for card deck to the right of the box with coffee graphics.",
+    "Put the gold text on playing cards box to the right of the medium coffee-box."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode371.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to place the bread block with light patches right of the lightweight toycar.",
+    "Put the hand-sized bread block at the right of the glossy blue toycar",
+    "Bring the soft bread to the right position of the glossy blue toycar.",
+    "Grab the bread block with light patches with the left arm and place it right of the glossy blue toycar.",
+    "Position the golden bread loaf to the right of the small blue car-shaped toycar.",
+    "Set the hand-sized bread block using the left arm at the toycar with black and orange wheels's right",
+    "Set the soft bread neatly on the right side of the toycar with smiling face design.",
+    "Grab the golden bread using the left arm and set it to the palm-sized plastic toycar's right.",
+    "Put the golden bread loaf using the left arm on the right of the plastic toycar.",
+    "Grasp the cuboid bread with the left arm and move it to the toycar for kids's right.",
+    "Grab the hand-sized bread block with the left arm and set right of the palm-sized plastic toycar.",
+    "Grab the doughy and soft bread using the left arm, then move it to the small toycar's right.",
+    "Use the left arm to set the cuboid bread right of the toycar with smiling face design.",
+    "Place the golden bread directly on the bright blue toycar's right.",
+    "Use the left arm to set the bread with rough texture right of the toycar with smiling face design.",
+    "Position the bread with rough texture at the right side of the toycar for kids",
+    "Make sure the hand-sized bread block is placed right of the lightweight toycar.",
+    "Shift the soft bread to the right of the small toycar",
+    "Ensure the hand-sized bread block is on the right of the toycar with black and orange wheels.",
+    "Set the bread with rough texture on the toycar for kids's right side",
+    "Position the golden bread to the right of the lightweight toycar.",
+    "Move the golden bread right of the plastic toycar with the left arm",
+    "Use the left arm to place the soft bread right of the toycar with black and orange wheels.",
+    "Place the golden bread using the left arm at the palm-sized plastic toycar's right",
+    "Move the square-shaped bread to the toycar with rounded edges's right position.",
+    "Take the bread block with light patches with the left arm and position it right of the blue toycar with white windows.",
+    "Move the soft bread and set it to the blue toycar with white windows's right.",
+    "Move the soft bread and place it carefully to the toycar with black and orange wheels's right.",
+    "Move the bread loaf with bumpy surface using the left arm to the toycar with black and orange wheels's right position.",
+    "Position the hand-sized bread block directly to the right of the toycar with rounded edges.",
+    "Move the cuboid bread to the toycar for kids's right using the left arm",
+    "Place the light golden brown bread precisely to the right of the bright blue toycar.",
+    "Use the left arm to position the golden bread to the small toycar's right.",
+    "Set the bread loaf with bumpy surface right next to the blue toycar with white windows's right side.",
+    "Grab the square-shaped bread using the left arm and place it right of the bright blue toycar.",
+    "Stick the bread block with light patches on the palm-sized plastic toycar's right side",
+    "Set the bread with rough texture properly on the right of the plastic toycar.",
+    "Put the soft bread exactly to the right of the palm-sized plastic toycar.",
+    "Move the cuboid bread to the right beside the bright blue toycar.",
+    "Place the bread block with light patches on the right of the lightweight toycar.",
+    "Using the left arm, position the doughy and soft bread to the right of the glossy blue toycar.",
+    "Set the bread loaf with bumpy surface carefully on the small blue car-shaped toycar's right side.",
+    "Set the bread with rough texture down on the small blue car-shaped toycar's right side.",
+    "Position the golden bread to the glossy blue toycar's right using the left arm",
+    "Use the left arm to place the square-shaped bread right of the bright blue toycar.",
+    "Using the left arm, position the bread block with light patches to the right of the toycar for kids.",
+    "With the left arm, move the hand-sized bread block to the toycar for kids's right.",
+    "Ensure the soft bread is placed on the right of the small toycar.",
+    "Move the golden bread loaf and place it to the lightweight toycar's right.",
+    "Set the hand-sized bread block on the right side of the small toycar.",
+    "Direct the left arm to place the golden bread loaf right of the toycar with smiling face design.",
+    "Put the golden bread loaf at the right of the toycar with rounded edges",
+    "Bring the bread with rough texture to the right position of the small toycar.",
+    "Grab the square-shaped bread with the left arm and place it right of the blue toycar with white windows.",
+    "Position the bread loaf with bumpy surface to the right of the lightweight toycar.",
+    "Set the light golden brown bread using the left arm at the plastic toycar's right",
+    "Set the light golden brown bread neatly on the right side of the toycar for kids.",
+    "Grab the bread with rough texture using the left arm and set it to the toycar for kids's right.",
+    "Put the light golden brown bread using the left arm on the right of the bright blue toycar.",
+    "Grasp the bread loaf with uneven edges with the left arm and move it to the toycar with black and orange wheels's right.",
+    "Grab the square-shaped bread with the left arm and set right of the lightweight toycar.",
+    "Grab the bread loaf with bumpy surface using the left arm, then move it to the blue toycar with white windows's right.",
+    "Use the left arm to set the cuboid bread right of the toycar with rounded edges.",
+    "Place the cuboid bread directly on the toycar with smiling face design's right.",
+    "Use the left arm to set the golden bread loaf right of the bright blue toycar.",
+    "Position the light golden brown bread at the right side of the toycar for kids",
+    "Make sure the hand-sized bread block is placed right of the plastic toycar.",
+    "Shift the doughy and soft bread to the right of the bright blue toycar",
+    "Ensure the golden bread is on the right of the lightweight toycar.",
+    "Set the bread loaf with bumpy surface on the palm-sized plastic toycar's right side",
+    "Position the bread block with light patches to the right of the bright blue toycar.",
+    "Move the golden bread right of the glossy blue toycar with the left arm",
+    "Use the left arm to place the cuboid bread right of the plastic toycar.",
+    "Place the cuboid bread using the left arm at the toycar with rounded edges's right",
+    "Move the cuboid bread to the blue toycar with white windows's right position.",
+    "Take the bread loaf with bumpy surface with the left arm and position it right of the plastic toycar.",
+    "Move the hand-sized bread block and set it to the bright blue toycar's right.",
+    "Move the hand-sized bread block and place it carefully to the toycar for kids's right.",
+    "Move the bread loaf with uneven edges using the left arm to the plastic toycar's right position.",
+    "Position the golden bread directly to the right of the toycar for kids.",
+    "Move the doughy and soft bread to the toycar with rounded edges's right using the left arm",
+    "Place the square-shaped bread precisely to the right of the glossy blue toycar.",
+    "Use the left arm to position the light golden brown bread to the plastic toycar's right.",
+    "Set the golden bread loaf right next to the toycar with black and orange wheels's right side.",
+    "Grab the cuboid bread using the left arm and place it right of the toycar with smiling face design.",
+    "Stick the golden bread loaf on the bright blue toycar's right side",
+    "Set the golden bread loaf properly on the right of the glossy blue toycar.",
+    "Put the bread with rough texture exactly to the right of the toycar with smiling face design.",
+    "Move the doughy and soft bread to the right beside the toycar for kids.",
+    "Place the bread loaf with bumpy surface on the right of the small blue car-shaped toycar.",
+    "Using the left arm, position the square-shaped bread to the right of the lightweight toycar.",
+    "Set the soft bread carefully on the blue toycar with white windows's right side.",
+    "Set the golden bread down on the plastic toycar's right side.",
+    "Position the doughy and soft bread to the toycar with black and orange wheels's right using the left arm",
+    "Use the left arm to place the soft bread right of the plastic toycar.",
+    "Using the left arm, position the cuboid bread to the right of the blue toycar with white windows.",
+    "With the left arm, move the hand-sized bread block to the small toycar's right.",
+    "Ensure the soft bread is placed on the right of the small toycar.",
+    "Move the doughy and soft bread and place it to the blue toycar with white windows's right.",
+    "Set the bread with rough texture on the right side of the lightweight toycar."
+  ],
+  "unseen": [
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the blue toycar",
+    "Place the bread loaf with soft surface rightward of the toycar with orange wheels using the left arm",
+    "Place the rectangular bread loaf on the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the blue toycar.",
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Set the rectangular bread loaf on the right of the toycar with orange wheels.",
+    "Place the bread loaf with soft surface on the blue toycar's right side.",
+    "Set the bread with golden crust to the right of the toycar with smooth finish.",
+    "Grab the bread with golden crust and place it right of the toycar with smooth finish.",
+    "Put the rectangular bread loaf to the right of the blue toycar.",
+    "Put the rectangular bread loaf to the right of the toycar with smooth finish",
+    "Place the bread with golden crust rightward of the toycar with orange wheels using the left arm",
+    "Place the bread with golden crust on the right of the blue toycar.",
+    "Put the bread loaf with soft surface to the right of the toycar with orange wheels.",
+    "Put the rectangular bread loaf to the right of the toycar with orange wheels.",
+    "Set the bread with golden crust on the right of the blue toycar.",
+    "Place the rectangular bread loaf on the toycar with orange wheels's right side.",
+    "Set the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Grab the bread loaf with soft surface and place it right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Put the rectangular bread loaf to the right of the toycar with smooth finish",
+    "Place the bread loaf with soft surface rightward of the toycar with orange wheels using the left arm",
+    "Place the bread loaf with soft surface on the right of the toycar with orange wheels.",
+    "Put the rectangular bread loaf to the right of the blue toycar.",
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Set the rectangular bread loaf on the right of the blue toycar.",
+    "Place the bread with golden crust on the toycar with orange wheels's right side.",
+    "Set the bread loaf with soft surface to the right of the blue toycar.",
+    "Grab the rectangular bread loaf and place it right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the toycar with orange wheels",
+    "Place the rectangular bread loaf rightward of the toycar with orange wheels using the left arm",
+    "Place the bread loaf with soft surface on the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the blue toycar.",
+    "Set the rectangular bread loaf on the right of the blue toycar.",
+    "Place the bread with golden crust on the blue toycar's right side.",
+    "Set the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Grab the bread loaf with soft surface and place it right of the toycar with orange wheels.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish",
+    "Place the bread with golden crust rightward of the blue toycar using the left arm",
+    "Place the rectangular bread loaf on the right of the toycar with smooth finish.",
+    "Put the rectangular bread loaf to the right of the toycar with smooth finish.",
+    "Put the rectangular bread loaf to the right of the toycar with smooth finish.",
+    "Set the bread with golden crust on the right of the toycar with smooth finish.",
+    "Place the bread with golden crust on the toycar with orange wheels's right side.",
+    "Set the bread with golden crust to the right of the toycar with smooth finish.",
+    "Grab the rectangular bread loaf and place it right of the toycar with smooth finish.",
+    "Put the rectangular bread loaf to the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the blue toycar",
+    "Place the rectangular bread loaf rightward of the toycar with orange wheels using the left arm",
+    "Place the bread loaf with soft surface on the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the blue toycar.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Set the bread loaf with soft surface on the right of the toycar with smooth finish.",
+    "Place the bread loaf with soft surface on the blue toycar's right side.",
+    "Set the rectangular bread loaf to the right of the blue toycar.",
+    "Grab the rectangular bread loaf and place it right of the toycar with orange wheels.",
+    "Put the rectangular bread loaf to the right of the toycar with orange wheels.",
+    "Put the rectangular bread loaf to the right of the toycar with orange wheels",
+    "Place the bread loaf with soft surface rightward of the toycar with smooth finish using the left arm",
+    "Place the bread loaf with soft surface on the right of the toycar with orange wheels.",
+    "Put the bread loaf with soft surface to the right of the blue toycar.",
+    "Put the rectangular bread loaf to the right of the blue toycar.",
+    "Set the bread loaf with soft surface on the right of the toycar with smooth finish.",
+    "Place the bread with golden crust on the toycar with smooth finish's right side.",
+    "Set the bread with golden crust to the right of the blue toycar.",
+    "Grab the bread loaf with soft surface and place it right of the toycar with orange wheels.",
+    "Put the rectangular bread loaf to the right of the blue toycar.",
+    "Put the rectangular bread loaf to the right of the toycar with orange wheels",
+    "Place the bread loaf with soft surface rightward of the toycar with orange wheels using the left arm",
+    "Place the rectangular bread loaf on the right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the blue toycar.",
+    "Put the rectangular bread loaf to the right of the blue toycar.",
+    "Set the rectangular bread loaf on the right of the toycar with orange wheels.",
+    "Place the bread with golden crust on the toycar with smooth finish's right side.",
+    "Set the bread loaf with soft surface to the right of the blue toycar.",
+    "Grab the rectangular bread loaf and place it right of the blue toycar.",
+    "Put the bread loaf with soft surface to the right of the toycar with orange wheels.",
+    "Put the bread with golden crust to the right of the toycar with orange wheels",
+    "Place the bread with golden crust rightward of the toycar with orange wheels using the left arm",
+    "Place the rectangular bread loaf on the right of the blue toycar.",
+    "Put the rectangular bread loaf to the right of the toycar with orange wheels.",
+    "Put the bread with golden crust to the right of the toycar with orange wheels.",
+    "Set the bread loaf with soft surface on the right of the toycar with smooth finish.",
+    "Place the bread with golden crust on the toycar with smooth finish's right side.",
+    "Set the bread with golden crust to the right of the blue toycar.",
+    "Grab the bread with golden crust and place it right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Put the bread loaf with soft surface to the right of the blue toycar",
+    "Place the bread with golden crust rightward of the blue toycar using the left arm",
+    "Place the rectangular bread loaf on the right of the blue toycar.",
+    "Put the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Put the bread with golden crust to the right of the toycar with smooth finish.",
+    "Set the bread loaf with soft surface on the right of the toycar with orange wheels.",
+    "Place the bread with golden crust on the blue toycar's right side.",
+    "Set the bread loaf with soft surface to the right of the toycar with smooth finish.",
+    "Grab the bread loaf with soft surface and place it right of the blue toycar."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode4.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the square-shaped bread piece to the right of the lightweight phone",
+    "Position the square-shaped bread piece directly to the right of the compact phone.",
+    "Grab the sponge-textured golden bread using the left arm and place it right of the black and white phone.",
+    "Move the bread with soft texture and place it carefully to the palm-sized black and white phone's right.",
+    "Use the left arm to place the soft square bread right of the smooth-screen phone.",
+    "Position the soft square bread to the right of the black and white phone.",
+    "Place the fluffy baked bread directly on the black and white phone's right.",
+    "Position the sponge-textured golden bread at the right side of the smooth-screen phone",
+    "Use the left arm to position the bread with soft texture to the smooth-screen phone's right.",
+    "Set the golden baked bread properly on the right of the phone with touchscreen.",
+    "Position the soft square bread to the right of the compact phone.",
+    "Using the left arm, position the sponge-textured golden bread to the right of the phone for calls and apps.",
+    "Use the left arm to set the medium-sized bread piece right of the smooth-screen phone.",
+    "Move the square-shaped bread piece and set it to the sleek rectangular phone's right.",
+    "Ensure the medium-sized bread piece is placed on the right of the lightweight phone.",
+    "Make sure the golden baked bread is placed right of the phone with buttons and screen.",
+    "Put the medium bread with rounded sides exactly to the right of the palm-sized black and white phone.",
+    "Set the sponge-textured golden bread using the left arm at the lightweight phone's right",
+    "Move the fluffy baked bread right of the flat phone with the left arm",
+    "Set the light brown porous bread on the right side of the lightweight phone.",
+    "Position the sponge-textured golden bread to the palm-sized black and white phone's right using the left arm",
+    "Place the fluffy baked bread on the right of the phone with digital display.",
+    "Ensure the sponge-textured golden bread is on the right of the phone with digital display.",
+    "Grab the bread with soft texture using the left arm, then move it to the lightweight phone's right.",
+    "With the left arm, move the square-shaped bread piece to the palm-sized black and white phone's right.",
+    "Set the medium bread with rounded sides right next to the palm-sized black and white phone's right side.",
+    "Put the fluffy baked bread at the right of the compact phone",
+    "Using the left arm, position the rounded square loaf to the right of the glass-faced phone.",
+    "Use the left arm to place the fluffy baked bread right of the black and white phone.",
+    "Direct the left arm to place the bread with rounded edges right of the phone with touchscreen.",
+    "Grab the rounded square loaf with the left arm and place it right of the glass-faced phone.",
+    "Bring the fluffy baked bread to the right position of the phone for calls and apps.",
+    "Set the rounded square loaf neatly on the right side of the compact phone.",
+    "Set the fluffy baked bread carefully on the compact phone's right side.",
+    "Take the light brown porous bread with the left arm and position it right of the sleek rectangular phone.",
+    "Set the light brown porous bread down on the flat phone's right side.",
+    "Place the square-shaped bread piece using the left arm at the phone with digital display's right",
+    "Grasp the golden brown bread with the left arm and move it to the compact phone's right.",
+    "Use the left arm to set the soft square bread right of the lightweight phone.",
+    "Grab the soft square bread using the left arm and set it to the palm-sized black and white phone's right.",
+    "Set the rounded square loaf on the flat phone's right side",
+    "Move the square-shaped bread piece using the left arm to the phone with digital display's right position.",
+    "Stick the golden baked bread on the black and white phone's right side",
+    "Move the golden baked bread to the right beside the phone for calls and apps.",
+    "Move the soft square bread to the phone for calls and apps's right using the left arm",
+    "Move the medium bread with rounded sides and place it to the phone with digital display's right.",
+    "Grab the bread with rounded edges with the left arm and set right of the black and white phone.",
+    "Place the sponge-textured golden bread precisely to the right of the flat phone.",
+    "Move the medium-sized bread piece to the compact phone's right position.",
+    "Put the rounded square loaf using the left arm on the right of the black and white phone.",
+    "Shift the sponge-textured golden bread to the right of the sleek rectangular phone",
+    "Position the fluffy baked bread directly to the right of the smooth-screen phone.",
+    "Grab the medium bread with rounded sides using the left arm and place it right of the phone for calls and apps.",
+    "Move the soft square bread and place it carefully to the phone with buttons and screen's right.",
+    "Use the left arm to place the medium-sized bread piece right of the lightweight phone.",
+    "Position the golden baked bread to the right of the compact phone.",
+    "Place the bread with soft texture directly on the smooth-screen phone's right.",
+    "Position the square-shaped bread piece at the right side of the phone with digital display",
+    "Use the left arm to position the golden baked bread to the phone with buttons and screen's right.",
+    "Set the bread with soft texture properly on the right of the phone with touchscreen.",
+    "Position the rounded square loaf to the right of the sleek rectangular phone.",
+    "Using the left arm, position the bread with soft texture to the right of the black and white phone.",
+    "Use the left arm to set the sponge-textured golden bread right of the phone with digital display.",
+    "Move the square-shaped bread piece and set it to the phone with touchscreen's right.",
+    "Ensure the soft square bread is placed on the right of the palm-sized black and white phone.",
+    "Make sure the bread with rounded edges is placed right of the lightweight phone.",
+    "Put the bread with rounded edges exactly to the right of the phone with touchscreen.",
+    "Set the medium-sized bread piece using the left arm at the lightweight phone's right",
+    "Move the golden baked bread right of the flat phone with the left arm",
+    "Set the bread with soft texture on the right side of the phone with buttons and screen.",
+    "Position the soft square bread to the phone with digital display's right using the left arm",
+    "Place the golden brown bread on the right of the palm-sized black and white phone.",
+    "Ensure the medium-sized bread piece is on the right of the phone with buttons and screen.",
+    "Grab the fluffy baked bread using the left arm, then move it to the glass-faced phone's right.",
+    "With the left arm, move the soft square bread to the phone with touchscreen's right.",
+    "Set the sponge-textured golden bread right next to the phone with buttons and screen's right side.",
+    "Put the square-shaped bread piece at the right of the smooth-screen phone",
+    "Using the left arm, position the medium-sized bread piece to the right of the smooth-screen phone.",
+    "Use the left arm to place the rounded square loaf right of the smooth-screen phone.",
+    "Direct the left arm to place the bread with rounded edges right of the glass-faced phone.",
+    "Grab the light brown porous bread with the left arm and place it right of the glass-faced phone.",
+    "Bring the light brown porous bread to the right position of the smooth-screen phone.",
+    "Set the bread with rounded edges neatly on the right side of the black and white phone.",
+    "Set the sponge-textured golden bread carefully on the compact phone's right side.",
+    "Take the bread with soft texture with the left arm and position it right of the lightweight phone.",
+    "Set the golden baked bread down on the lightweight phone's right side.",
+    "Place the light brown porous bread using the left arm at the phone with buttons and screen's right",
+    "Grasp the soft square bread with the left arm and move it to the lightweight phone's right.",
+    "Use the left arm to set the bread with soft texture right of the compact phone.",
+    "Grab the medium bread with rounded sides using the left arm and set it to the sleek rectangular phone's right.",
+    "Set the soft square bread on the compact phone's right side",
+    "Move the rounded square loaf using the left arm to the palm-sized black and white phone's right position.",
+    "Stick the golden baked bread on the palm-sized black and white phone's right side",
+    "Move the golden baked bread to the right beside the palm-sized black and white phone.",
+    "Move the golden baked bread to the phone with buttons and screen's right using the left arm",
+    "Move the rounded square loaf and place it to the phone with buttons and screen's right.",
+    "Grab the bread with soft texture with the left arm and set right of the black and white phone.",
+    "Place the bread with rounded edges precisely to the right of the phone with digital display.",
+    "Move the bread with rounded edges to the phone for calls and apps's right position.",
+    "Put the soft square bread using the left arm on the right of the phone with digital display."
+  ],
+  "unseen": [
+    "Place the spongy golden brown bread on the rectangular phone's right side.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Set the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the soft bread with golden edges on the right of the white-sided phone.",
+    "Place the spongy golden brown bread rightward of the white-sided phone using the left arm",
+    "Place the spongy golden brown bread on the right of the phone with rounded edges.",
+    "Grab the soft bread with golden edges and place it right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the rectangular phone.",
+    "Put the square bread with light spots to the right of the rectangular phone",
+    "Place the square bread with light spots on the white-sided phone's right side.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Set the square bread with light spots to the right of the white-sided phone.",
+    "Set the soft bread with golden edges on the right of the phone with rounded edges.",
+    "Place the spongy golden brown bread rightward of the rectangular phone using the left arm",
+    "Place the square bread with light spots on the right of the rectangular phone.",
+    "Grab the soft bread with golden edges and place it right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the white-sided phone",
+    "Place the spongy golden brown bread on the rectangular phone's right side.",
+    "Put the soft bread with golden edges to the right of the rectangular phone.",
+    "Set the soft bread with golden edges to the right of the phone with rounded edges.",
+    "Set the spongy golden brown bread on the right of the white-sided phone.",
+    "Place the soft bread with golden edges rightward of the white-sided phone using the left arm",
+    "Place the square bread with light spots on the right of the phone with rounded edges.",
+    "Grab the soft bread with golden edges and place it right of the phone with rounded edges.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Put the spongy golden brown bread to the right of the phone with rounded edges.",
+    "Put the spongy golden brown bread to the right of the rectangular phone",
+    "Place the square bread with light spots on the white-sided phone's right side.",
+    "Put the soft bread with golden edges to the right of the white-sided phone.",
+    "Set the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the spongy golden brown bread on the right of the rectangular phone.",
+    "Place the soft bread with golden edges rightward of the white-sided phone using the left arm",
+    "Place the square bread with light spots on the right of the white-sided phone.",
+    "Grab the square bread with light spots and place it right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the white-sided phone.",
+    "Put the soft bread with golden edges to the right of the white-sided phone",
+    "Place the soft bread with golden edges on the phone with rounded edges's right side.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the square bread with light spots to the right of the rectangular phone.",
+    "Set the soft bread with golden edges on the right of the rectangular phone.",
+    "Place the square bread with light spots rightward of the phone with rounded edges using the left arm",
+    "Place the spongy golden brown bread on the right of the phone with rounded edges.",
+    "Grab the spongy golden brown bread and place it right of the phone with rounded edges.",
+    "Put the square bread with light spots to the right of the white-sided phone.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Put the square bread with light spots to the right of the white-sided phone",
+    "Place the spongy golden brown bread on the white-sided phone's right side.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the square bread with light spots to the right of the rectangular phone.",
+    "Set the square bread with light spots on the right of the phone with rounded edges.",
+    "Place the spongy golden brown bread rightward of the phone with rounded edges using the left arm",
+    "Place the spongy golden brown bread on the right of the phone with rounded edges.",
+    "Grab the square bread with light spots and place it right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the rectangular phone.",
+    "Put the spongy golden brown bread to the right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the white-sided phone",
+    "Place the soft bread with golden edges on the phone with rounded edges's right side.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the soft bread with golden edges to the right of the phone with rounded edges.",
+    "Set the soft bread with golden edges on the right of the rectangular phone.",
+    "Place the square bread with light spots rightward of the rectangular phone using the left arm",
+    "Place the spongy golden brown bread on the right of the white-sided phone.",
+    "Grab the spongy golden brown bread and place it right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Put the spongy golden brown bread to the right of the phone with rounded edges",
+    "Place the square bread with light spots on the phone with rounded edges's right side.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Set the soft bread with golden edges to the right of the phone with rounded edges.",
+    "Set the spongy golden brown bread on the right of the phone with rounded edges.",
+    "Place the soft bread with golden edges rightward of the white-sided phone using the left arm",
+    "Place the square bread with light spots on the right of the rectangular phone.",
+    "Grab the spongy golden brown bread and place it right of the rectangular phone.",
+    "Put the square bread with light spots to the right of the white-sided phone.",
+    "Put the spongy golden brown bread to the right of the rectangular phone.",
+    "Put the soft bread with golden edges to the right of the phone with rounded edges",
+    "Place the spongy golden brown bread on the phone with rounded edges's right side.",
+    "Put the square bread with light spots to the right of the phone with rounded edges.",
+    "Set the square bread with light spots to the right of the white-sided phone.",
+    "Set the soft bread with golden edges on the right of the white-sided phone.",
+    "Place the soft bread with golden edges rightward of the phone with rounded edges using the left arm",
+    "Place the soft bread with golden edges on the right of the white-sided phone.",
+    "Grab the spongy golden brown bread and place it right of the white-sided phone.",
+    "Put the soft bread with golden edges to the right of the white-sided phone.",
+    "Put the soft bread with golden edges to the right of the white-sided phone.",
+    "Put the square bread with light spots to the right of the rectangular phone",
+    "Place the soft bread with golden edges on the white-sided phone's right side.",
+    "Put the spongy golden brown bread to the right of the white-sided phone.",
+    "Set the spongy golden brown bread to the right of the rectangular phone.",
+    "Set the soft bread with golden edges on the right of the white-sided phone.",
+    "Place the spongy golden brown bread rightward of the rectangular phone using the left arm",
+    "Place the square bread with light spots on the right of the rectangular phone.",
+    "Grab the soft bread with golden edges and place it right of the phone with rounded edges.",
+    "Put the soft bread with golden edges to the right of the rectangular phone.",
+    "Put the square bread with light spots to the right of the rectangular phone.",
+    "Put the spongy golden brown bread to the right of the rectangular phone"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode409.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the lightweight phone properly on the right of the plastic rubikscube.",
+    "Set the phone for calls and apps on the rubikscube with yellow and orange squares's right side",
+    "Put the lightweight phone using the right arm on the right of the rubikscube made of square tiles.",
+    "Position the palm-sized black and white phone to the right of the plastic rubikscube.",
+    "Move the phone with digital display and place it carefully to the rubikscube made of square tiles's right.",
+    "Move the flat phone and set it to the smooth cube with twisting blocks's right.",
+    "Use the right arm to set the lightweight phone right of the rubikscube with yellow and orange squares.",
+    "Move the phone with touchscreen to the colorful cube's right using the right arm",
+    "Use the right arm to place the palm-sized black and white phone right of the black-bordered rubikscube.",
+    "Set the sleek rectangular phone neatly on the right side of the black-bordered rubikscube.",
+    "Move the phone with buttons and screen using the right arm to the black-bordered rubikscube's right position.",
+    "Position the smooth-screen phone to the right of the rubikscube with yellow and orange squares.",
+    "Take the phone with touchscreen with the right arm and position it right of the rubikscube with six colored faces.",
+    "Bring the sleek rectangular phone to the right position of the smooth cube with twisting blocks.",
+    "Ensure the sleek rectangular phone is on the right of the rubikscube.",
+    "Grab the palm-sized black and white phone using the right arm and place it right of the small puzzle cube.",
+    "Use the right arm to set the glass-faced phone right of the black-bordered rubikscube.",
+    "Using the right arm, position the sleek rectangular phone to the right of the smooth cube with twisting blocks.",
+    "Move the phone with digital display right of the rubikscube with yellow and orange squares with the right arm",
+    "Place the black and white phone directly on the small puzzle cube's right.",
+    "Move the flat phone and place it to the rubikscube with yellow and orange squares's right.",
+    "Set the sleek rectangular phone down on the rubikscube with yellow and orange squares's right side.",
+    "Position the smooth-screen phone directly to the right of the smooth cube with twisting blocks.",
+    "Ensure the lightweight phone is placed on the right of the rubikscube with rotating rows and columns.",
+    "Position the palm-sized black and white phone to the rubikscube with red blue green tiles's right using the right arm",
+    "Set the lightweight phone using the right arm at the rubikscube with matching color blocks's right",
+    "Grasp the sleek rectangular phone with the right arm and move it to the black-bordered rubikscube's right.",
+    "Put the phone with digital display at the right of the rubikscube made of square tiles",
+    "Put the palm-sized black and white phone exactly to the right of the smooth cube with twisting blocks.",
+    "With the right arm, move the smooth-screen phone to the rubikscube made of square tiles's right.",
+    "Move the compact phone to the colorful cube's right position.",
+    "Use the right arm to position the glass-faced phone to the smooth cube with twisting blocks's right.",
+    "Grab the black and white phone with the right arm and set right of the rubikscube with matching color blocks.",
+    "Grab the lightweight phone using the right arm, then move it to the colorful cube's right.",
+    "Grab the flat phone using the right arm and set it to the rubikscube with six colored faces's right.",
+    "Using the right arm, position the flat phone to the right of the rubikscube made of square tiles.",
+    "Position the lightweight phone at the right side of the rubikscube with red blue green tiles",
+    "Make sure the glass-faced phone is placed right of the colorful cube.",
+    "Grab the phone with touchscreen with the right arm and place it right of the rubikscube with matching color blocks.",
+    "Place the sleek rectangular phone using the right arm at the small puzzle cube's right",
+    "Stick the compact phone on the black-bordered rubikscube's right side",
+    "Set the flat phone carefully on the colorful cube's right side.",
+    "Place the sleek rectangular phone on the right of the black-bordered rubikscube.",
+    "Move the phone with digital display to the right beside the smooth cube with twisting blocks.",
+    "Set the lightweight phone on the right side of the small puzzle cube.",
+    "Use the right arm to place the sleek rectangular phone right of the plastic rubikscube.",
+    "Direct the right arm to place the sleek rectangular phone right of the black-bordered rubikscube.",
+    "Shift the sleek rectangular phone to the right of the rubikscube",
+    "Place the phone with touchscreen precisely to the right of the rubikscube with yellow and orange squares.",
+    "Set the black and white phone right next to the rubikscube with red blue green tiles's right side.",
+    "Set the phone with buttons and screen properly on the right of the rubikscube with matching color blocks.",
+    "Set the compact phone on the plastic rubikscube's right side",
+    "Put the smooth-screen phone using the right arm on the right of the black-bordered rubikscube.",
+    "Position the phone for calls and apps to the right of the smooth cube with twisting blocks.",
+    "Move the phone with touchscreen and place it carefully to the rubikscube made of square tiles's right.",
+    "Move the phone with buttons and screen and set it to the small puzzle cube's right.",
+    "Use the right arm to set the phone with buttons and screen right of the black-bordered rubikscube.",
+    "Move the phone with digital display to the rubikscube with red blue green tiles's right using the right arm",
+    "Use the right arm to place the sleek rectangular phone right of the rubikscube with matching color blocks.",
+    "Set the smooth-screen phone neatly on the right side of the rubikscube made of square tiles.",
+    "Move the smooth-screen phone using the right arm to the rubikscube with yellow and orange squares's right position.",
+    "Position the lightweight phone to the right of the rubikscube made of square tiles.",
+    "Take the smooth-screen phone with the right arm and position it right of the plastic rubikscube.",
+    "Bring the lightweight phone to the right position of the small puzzle cube.",
+    "Ensure the phone with digital display is on the right of the plastic rubikscube.",
+    "Grab the black and white phone using the right arm and place it right of the plastic rubikscube.",
+    "Use the right arm to set the phone with buttons and screen right of the rubikscube made of square tiles.",
+    "Using the right arm, position the palm-sized black and white phone to the right of the rubikscube with rotating rows and columns.",
+    "Move the flat phone right of the plastic rubikscube with the right arm",
+    "Place the flat phone directly on the small puzzle cube's right.",
+    "Move the phone for calls and apps and place it to the small puzzle cube's right.",
+    "Set the sleek rectangular phone down on the rubikscube with matching color blocks's right side.",
+    "Position the phone for calls and apps directly to the right of the rubikscube with red blue green tiles.",
+    "Ensure the flat phone is placed on the right of the rubikscube with rotating rows and columns.",
+    "Position the phone with touchscreen to the rubikscube with yellow and orange squares's right using the right arm",
+    "Set the phone with buttons and screen using the right arm at the rubikscube with matching color blocks's right",
+    "Grasp the lightweight phone with the right arm and move it to the colorful cube's right.",
+    "Put the sleek rectangular phone at the right of the rubikscube with red blue green tiles",
+    "Put the phone with touchscreen exactly to the right of the rubikscube with red blue green tiles.",
+    "With the right arm, move the phone for calls and apps to the rubikscube made of square tiles's right.",
+    "Move the compact phone to the rubikscube with red blue green tiles's right position.",
+    "Use the right arm to position the glass-faced phone to the black-bordered rubikscube's right.",
+    "Grab the smooth-screen phone with the right arm and set right of the rubikscube with matching color blocks.",
+    "Grab the phone with buttons and screen using the right arm, then move it to the rubikscube with yellow and orange squares's right.",
+    "Grab the phone for calls and apps using the right arm and set it to the rubikscube with red blue green tiles's right.",
+    "Using the right arm, position the phone with buttons and screen to the right of the colorful cube.",
+    "Position the flat phone at the right side of the rubikscube with red blue green tiles",
+    "Make sure the palm-sized black and white phone is placed right of the rubikscube with red blue green tiles.",
+    "Grab the black and white phone with the right arm and place it right of the colorful cube.",
+    "Place the phone with digital display using the right arm at the rubikscube with red blue green tiles's right",
+    "Stick the phone with digital display on the rubikscube's right side",
+    "Set the black and white phone carefully on the black-bordered rubikscube's right side.",
+    "Place the black and white phone on the right of the black-bordered rubikscube.",
+    "Move the phone with buttons and screen to the right beside the black-bordered rubikscube.",
+    "Set the phone with buttons and screen on the right side of the rubikscube made of square tiles.",
+    "Use the right arm to place the phone with touchscreen right of the plastic rubikscube.",
+    "Direct the right arm to place the phone with buttons and screen right of the rubikscube with rotating rows and columns.",
+    "Shift the phone with buttons and screen to the right of the rubikscube with red blue green tiles",
+    "Place the black and white phone precisely to the right of the rubikscube with six colored faces.",
+    "Set the glass-faced phone right next to the rubikscube with six colored faces's right side."
+  ],
+  "unseen": [
+    "Put the white-sided phone to the right of the multi-colored rubikscube.",
+    "Set the rectangular phone to the right of the rubikscube for twisting and turning.",
+    "Place the rectangular phone on the rubikscube for twisting and turning's right side.",
+    "Grab the rectangular phone and place it right of the multi-colored rubikscube.",
+    "Set the rectangular phone on the right of the handheld rubikscube.",
+    "Put the rectangular phone to the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Place the phone with rounded edges rightward of the handheld rubikscube using the right arm",
+    "Place the rectangular phone on the right of the multi-colored rubikscube.",
+    "Put the white-sided phone to the right of the handheld rubikscube",
+    "Put the phone with rounded edges to the right of the handheld rubikscube.",
+    "Set the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Place the rectangular phone on the multi-colored rubikscube's right side.",
+    "Grab the white-sided phone and place it right of the rubikscube for twisting and turning.",
+    "Set the rectangular phone on the right of the handheld rubikscube.",
+    "Put the rectangular phone to the right of the rubikscube for twisting and turning.",
+    "Put the rectangular phone to the right of the multi-colored rubikscube.",
+    "Place the rectangular phone rightward of the handheld rubikscube using the right arm",
+    "Place the white-sided phone on the right of the multi-colored rubikscube.",
+    "Put the white-sided phone to the right of the multi-colored rubikscube",
+    "Put the rectangular phone to the right of the handheld rubikscube.",
+    "Set the white-sided phone to the right of the multi-colored rubikscube.",
+    "Place the phone with rounded edges on the handheld rubikscube's right side.",
+    "Grab the phone with rounded edges and place it right of the rubikscube for twisting and turning.",
+    "Set the rectangular phone on the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube.",
+    "Place the white-sided phone rightward of the multi-colored rubikscube using the right arm",
+    "Place the white-sided phone on the right of the handheld rubikscube.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube",
+    "Put the phone with rounded edges to the right of the handheld rubikscube.",
+    "Set the white-sided phone to the right of the multi-colored rubikscube.",
+    "Place the rectangular phone on the handheld rubikscube's right side.",
+    "Grab the phone with rounded edges and place it right of the rubikscube for twisting and turning.",
+    "Set the rectangular phone on the right of the handheld rubikscube.",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the handheld rubikscube.",
+    "Place the white-sided phone rightward of the rubikscube for twisting and turning using the right arm",
+    "Place the white-sided phone on the right of the handheld rubikscube.",
+    "Put the white-sided phone to the right of the rubikscube for twisting and turning",
+    "Put the rectangular phone to the right of the handheld rubikscube.",
+    "Set the phone with rounded edges to the right of the handheld rubikscube.",
+    "Place the white-sided phone on the rubikscube for twisting and turning's right side.",
+    "Grab the white-sided phone and place it right of the rubikscube for twisting and turning.",
+    "Set the white-sided phone on the right of the handheld rubikscube.",
+    "Put the white-sided phone to the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Place the white-sided phone rightward of the multi-colored rubikscube using the right arm",
+    "Place the rectangular phone on the right of the multi-colored rubikscube.",
+    "Put the rectangular phone to the right of the handheld rubikscube",
+    "Put the rectangular phone to the right of the handheld rubikscube.",
+    "Set the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Place the phone with rounded edges on the rubikscube for twisting and turning's right side.",
+    "Grab the rectangular phone and place it right of the handheld rubikscube.",
+    "Set the phone with rounded edges on the right of the handheld rubikscube.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the handheld rubikscube.",
+    "Place the white-sided phone rightward of the multi-colored rubikscube using the right arm",
+    "Place the rectangular phone on the right of the handheld rubikscube.",
+    "Put the white-sided phone to the right of the handheld rubikscube",
+    "Put the rectangular phone to the right of the rubikscube for twisting and turning.",
+    "Set the white-sided phone to the right of the multi-colored rubikscube.",
+    "Place the white-sided phone on the rubikscube for twisting and turning's right side.",
+    "Grab the white-sided phone and place it right of the handheld rubikscube.",
+    "Set the phone with rounded edges on the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the handheld rubikscube.",
+    "Put the white-sided phone to the right of the multi-colored rubikscube.",
+    "Place the phone with rounded edges rightward of the multi-colored rubikscube using the right arm",
+    "Place the phone with rounded edges on the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube",
+    "Put the rectangular phone to the right of the handheld rubikscube.",
+    "Set the rectangular phone to the right of the handheld rubikscube.",
+    "Place the white-sided phone on the multi-colored rubikscube's right side.",
+    "Grab the phone with rounded edges and place it right of the multi-colored rubikscube.",
+    "Set the white-sided phone on the right of the rubikscube for twisting and turning.",
+    "Put the white-sided phone to the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Place the rectangular phone rightward of the handheld rubikscube using the right arm",
+    "Place the phone with rounded edges on the right of the multi-colored rubikscube.",
+    "Put the white-sided phone to the right of the rubikscube for twisting and turning",
+    "Put the white-sided phone to the right of the rubikscube for twisting and turning.",
+    "Set the phone with rounded edges to the right of the multi-colored rubikscube.",
+    "Place the rectangular phone on the handheld rubikscube's right side.",
+    "Grab the phone with rounded edges and place it right of the multi-colored rubikscube.",
+    "Set the rectangular phone on the right of the rubikscube for twisting and turning.",
+    "Put the white-sided phone to the right of the multi-colored rubikscube.",
+    "Put the white-sided phone to the right of the handheld rubikscube.",
+    "Place the white-sided phone rightward of the rubikscube for twisting and turning using the right arm",
+    "Place the white-sided phone on the right of the handheld rubikscube.",
+    "Put the rectangular phone to the right of the rubikscube for twisting and turning",
+    "Put the phone with rounded edges to the right of the rubikscube for twisting and turning.",
+    "Set the rectangular phone to the right of the rubikscube for twisting and turning.",
+    "Place the white-sided phone on the rubikscube for twisting and turning's right side.",
+    "Grab the phone with rounded edges and place it right of the handheld rubikscube.",
+    "Set the phone with rounded edges on the right of the rubikscube for twisting and turning.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube.",
+    "Place the rectangular phone rightward of the multi-colored rubikscube using the right arm",
+    "Place the rectangular phone on the right of the multi-colored rubikscube.",
+    "Put the phone with rounded edges to the right of the multi-colored rubikscube"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode42.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stick the toycar with black and orange wheels on the oval-shaped mouse's right side",
+    "Put the plastic toycar using the left arm on the right of the dark gray mouse with smooth texture.",
+    "Position the toycar with black and orange wheels directly to the right of the dark gray palm-sized mouse.",
+    "Shift the small toycar to the right of the dark gray palm-sized mouse",
+    "Set the blue toycar with white windows right next to the mouse with curved top's right side.",
+    "Move the small blue car-shaped toycar and place it to the oval-shaped mouse's right.",
+    "Set the small toycar using the left arm at the plastic mouse's right",
+    "Move the toycar for kids right of the plastic mouse with the left arm",
+    "Grab the toycar with smiling face design using the left arm and place it right of the mouse with ergonomic design.",
+    "Direct the left arm to place the toycar for kids right of the oval-shaped mouse.",
+    "Position the toycar with black and orange wheels to the right of the dark gray mouse with smooth texture.",
+    "Use the left arm to position the plastic toycar to the dark gray mouse with smooth texture's right.",
+    "Position the glossy blue toycar at the right side of the dark gray mouse with smooth texture",
+    "With the left arm, move the small blue car-shaped toycar to the dark gray mouse with smooth texture's right.",
+    "Put the small toycar exactly to the right of the oval-shaped mouse.",
+    "Move the lightweight toycar to the right beside the dark gray palm-sized mouse.",
+    "Ensure the glossy blue toycar is on the right of the mouse with ergonomic design.",
+    "Use the left arm to place the toycar with black and orange wheels right of the smooth dark gray computer mouse.",
+    "Grab the toycar with smiling face design with the left arm and place it right of the mouse with buttons and wheel.",
+    "Put the glossy blue toycar at the right of the dark gray mouse",
+    "Place the blue toycar with white windows using the left arm at the smooth dark gray computer mouse's right",
+    "Use the left arm to place the toycar with black and orange wheels right of the mouse with buttons and wheel.",
+    "Ensure the plastic toycar is placed on the right of the mouse with buttons and wheel.",
+    "Set the plastic toycar down on the mouse with curved top's right side.",
+    "Take the bright blue toycar with the left arm and position it right of the plastic mouse.",
+    "Set the toycar for kids on the rounded computer mouse's right side",
+    "Position the toycar with black and orange wheels to the right of the mouse with buttons and wheel.",
+    "Set the plastic toycar properly on the right of the dark gray mouse with smooth texture.",
+    "Position the toycar with rounded edges to the dark gray mouse with smooth texture's right using the left arm",
+    "Move the palm-sized plastic toycar to the plastic mouse's right position.",
+    "Using the left arm, position the blue toycar with white windows to the right of the dark gray palm-sized mouse.",
+    "Grab the blue toycar with white windows with the left arm and set right of the dark gray palm-sized mouse.",
+    "Place the small blue car-shaped toycar directly on the mouse with buttons and wheel's right.",
+    "Move the plastic toycar and set it to the dark gray mouse with smooth texture's right.",
+    "Bring the toycar for kids to the right position of the dark gray palm-sized mouse.",
+    "Place the toycar for kids on the right of the dark gray palm-sized mouse.",
+    "Move the glossy blue toycar and place it carefully to the mouse with curved top's right.",
+    "Use the left arm to set the toycar with black and orange wheels right of the mouse with buttons and wheel.",
+    "Set the toycar with rounded edges neatly on the right side of the smooth dark gray computer mouse.",
+    "Set the toycar with rounded edges carefully on the dark gray mouse's right side.",
+    "Grab the toycar with black and orange wheels using the left arm, then move it to the mouse with scroll wheel's right.",
+    "Make sure the small blue car-shaped toycar is placed right of the dark gray mouse.",
+    "Set the toycar with black and orange wheels on the right side of the mouse with scroll wheel.",
+    "Using the left arm, position the bright blue toycar to the right of the wireless dark gray computer mouse.",
+    "Grasp the bright blue toycar with the left arm and move it to the rounded computer mouse's right.",
+    "Place the small toycar precisely to the right of the dark gray mouse with smooth texture.",
+    "Move the small toycar to the dark gray mouse with smooth texture's right using the left arm",
+    "Use the left arm to set the palm-sized plastic toycar right of the mouse with curved top.",
+    "Grab the toycar with rounded edges using the left arm and set it to the dark gray mouse's right.",
+    "Move the lightweight toycar using the left arm to the wireless dark gray computer mouse's right position.",
+    "Stick the palm-sized plastic toycar on the mouse with buttons and wheel's right side",
+    "Put the toycar with black and orange wheels using the left arm on the right of the smooth dark gray computer mouse.",
+    "Position the toycar with black and orange wheels directly to the right of the rounded computer mouse.",
+    "Shift the blue toycar with white windows to the right of the mouse with buttons and wheel",
+    "Set the small blue car-shaped toycar right next to the smooth dark gray computer mouse's right side.",
+    "Move the toycar with rounded edges and place it to the oval-shaped mouse's right.",
+    "Set the blue toycar with white windows using the left arm at the mouse with ergonomic design's right",
+    "Move the toycar with rounded edges right of the rounded computer mouse with the left arm",
+    "Grab the toycar with rounded edges using the left arm and place it right of the wireless dark gray computer mouse.",
+    "Direct the left arm to place the toycar with black and orange wheels right of the dark gray mouse.",
+    "Position the plastic toycar to the right of the oval-shaped mouse.",
+    "Use the left arm to position the small blue car-shaped toycar to the plastic mouse's right.",
+    "Position the blue toycar with white windows at the right side of the mouse with ergonomic design",
+    "With the left arm, move the toycar with rounded edges to the mouse with ergonomic design's right.",
+    "Put the bright blue toycar exactly to the right of the wireless dark gray computer mouse.",
+    "Move the plastic toycar to the right beside the oval-shaped mouse.",
+    "Ensure the plastic toycar is on the right of the plastic mouse.",
+    "Use the left arm to place the small blue car-shaped toycar right of the plastic mouse.",
+    "Grab the bright blue toycar with the left arm and place it right of the mouse with curved top.",
+    "Put the small blue car-shaped toycar at the right of the dark gray mouse with smooth texture",
+    "Place the small toycar using the left arm at the dark gray mouse with smooth texture's right",
+    "Use the left arm to place the plastic toycar right of the mouse with scroll wheel.",
+    "Ensure the bright blue toycar is placed on the right of the mouse with ergonomic design.",
+    "Set the toycar with black and orange wheels down on the dark gray palm-sized mouse's right side.",
+    "Take the toycar for kids with the left arm and position it right of the smooth dark gray computer mouse.",
+    "Set the toycar with smiling face design on the dark gray palm-sized mouse's right side",
+    "Position the plastic toycar to the right of the rounded computer mouse.",
+    "Set the toycar with rounded edges properly on the right of the plastic mouse.",
+    "Position the plastic toycar to the mouse with ergonomic design's right using the left arm",
+    "Move the glossy blue toycar to the dark gray mouse's right position.",
+    "Using the left arm, position the blue toycar with white windows to the right of the smooth dark gray computer mouse.",
+    "Grab the bright blue toycar with the left arm and set right of the plastic mouse.",
+    "Place the lightweight toycar directly on the rounded computer mouse's right.",
+    "Move the plastic toycar and set it to the mouse with curved top's right.",
+    "Bring the blue toycar with white windows to the right position of the oval-shaped mouse.",
+    "Place the toycar with smiling face design on the right of the wireless dark gray computer mouse.",
+    "Move the blue toycar with white windows and place it carefully to the plastic mouse's right.",
+    "Use the left arm to set the lightweight toycar right of the mouse with curved top.",
+    "Set the small blue car-shaped toycar neatly on the right side of the mouse with scroll wheel.",
+    "Set the toycar for kids carefully on the plastic mouse's right side.",
+    "Grab the toycar for kids using the left arm, then move it to the wireless dark gray computer mouse's right.",
+    "Make sure the toycar with rounded edges is placed right of the mouse with buttons and wheel.",
+    "Set the toycar for kids on the right side of the rounded computer mouse.",
+    "Using the left arm, position the toycar with rounded edges to the right of the dark gray mouse.",
+    "Grasp the lightweight toycar with the left arm and move it to the dark gray palm-sized mouse's right.",
+    "Place the blue toycar with white windows precisely to the right of the mouse with curved top.",
+    "Move the toycar with smiling face design to the mouse with ergonomic design's right using the left arm",
+    "Use the left arm to set the lightweight toycar right of the mouse with curved top.",
+    "Grab the glossy blue toycar using the left arm and set it to the dark gray mouse's right.",
+    "Move the lightweight toycar using the left arm to the dark gray mouse with smooth texture's right position."
+  ],
+  "unseen": [
+    "Place the toycar with smooth finish on the dark gray computer mouse with logo's right side.",
+    "Put the blue toycar to the right of the small rounded plastic mouse.",
+    "Place the blue toycar on the right of the small rounded plastic mouse.",
+    "Set the toycar with smooth finish on the right of the dark gray computer mouse with logo.",
+    "Set the blue toycar to the right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Grab the toycar with orange wheels and place it right of the small rounded plastic mouse.",
+    "Put the toycar with orange wheels to the right of the hand-sized dark gray mouse",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Place the toycar with smooth finish rightward of the hand-sized dark gray mouse using the left arm",
+    "Place the toycar with orange wheels on the small rounded plastic mouse's right side.",
+    "Put the toycar with orange wheels to the right of the small rounded plastic mouse.",
+    "Place the blue toycar on the right of the dark gray computer mouse with logo.",
+    "Set the toycar with orange wheels on the right of the hand-sized dark gray mouse.",
+    "Set the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Grab the blue toycar and place it right of the small rounded plastic mouse.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse",
+    "Put the toycar with smooth finish to the right of the dark gray computer mouse with logo.",
+    "Place the blue toycar rightward of the small rounded plastic mouse using the left arm",
+    "Place the blue toycar on the dark gray computer mouse with logo's right side.",
+    "Put the toycar with orange wheels to the right of the small rounded plastic mouse.",
+    "Place the toycar with smooth finish on the right of the hand-sized dark gray mouse.",
+    "Set the toycar with smooth finish on the right of the dark gray computer mouse with logo.",
+    "Set the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Put the toycar with orange wheels to the right of the dark gray computer mouse with logo.",
+    "Grab the toycar with orange wheels and place it right of the small rounded plastic mouse.",
+    "Put the blue toycar to the right of the small rounded plastic mouse",
+    "Put the blue toycar to the right of the small rounded plastic mouse.",
+    "Place the toycar with smooth finish rightward of the dark gray computer mouse with logo using the left arm",
+    "Place the toycar with orange wheels on the hand-sized dark gray mouse's right side.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Place the toycar with orange wheels on the right of the hand-sized dark gray mouse.",
+    "Set the toycar with smooth finish on the right of the hand-sized dark gray mouse.",
+    "Set the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Put the toycar with orange wheels to the right of the hand-sized dark gray mouse.",
+    "Grab the blue toycar and place it right of the small rounded plastic mouse.",
+    "Put the toycar with smooth finish to the right of the dark gray computer mouse with logo",
+    "Put the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Place the toycar with smooth finish rightward of the dark gray computer mouse with logo using the left arm",
+    "Place the blue toycar on the small rounded plastic mouse's right side.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Place the blue toycar on the right of the hand-sized dark gray mouse.",
+    "Set the blue toycar on the right of the dark gray computer mouse with logo.",
+    "Set the toycar with orange wheels to the right of the dark gray computer mouse with logo.",
+    "Put the toycar with smooth finish to the right of the dark gray computer mouse with logo.",
+    "Grab the toycar with orange wheels and place it right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Place the blue toycar rightward of the small rounded plastic mouse using the left arm",
+    "Place the toycar with smooth finish on the dark gray computer mouse with logo's right side.",
+    "Put the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Place the toycar with orange wheels on the right of the small rounded plastic mouse.",
+    "Set the toycar with smooth finish on the right of the small rounded plastic mouse.",
+    "Set the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Grab the blue toycar and place it right of the small rounded plastic mouse.",
+    "Put the blue toycar to the right of the small rounded plastic mouse",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Place the toycar with smooth finish rightward of the hand-sized dark gray mouse using the left arm",
+    "Place the blue toycar on the hand-sized dark gray mouse's right side.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Place the toycar with orange wheels on the right of the hand-sized dark gray mouse.",
+    "Set the blue toycar on the right of the dark gray computer mouse with logo.",
+    "Set the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the hand-sized dark gray mouse.",
+    "Grab the toycar with orange wheels and place it right of the dark gray computer mouse with logo.",
+    "Put the toycar with smooth finish to the right of the dark gray computer mouse with logo",
+    "Put the toycar with orange wheels to the right of the dark gray computer mouse with logo.",
+    "Place the toycar with smooth finish rightward of the hand-sized dark gray mouse using the left arm",
+    "Place the blue toycar on the dark gray computer mouse with logo's right side.",
+    "Put the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Place the toycar with smooth finish on the right of the hand-sized dark gray mouse.",
+    "Set the toycar with smooth finish on the right of the hand-sized dark gray mouse.",
+    "Set the toycar with smooth finish to the right of the dark gray computer mouse with logo.",
+    "Put the toycar with orange wheels to the right of the hand-sized dark gray mouse.",
+    "Grab the toycar with smooth finish and place it right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Place the toycar with smooth finish rightward of the hand-sized dark gray mouse using the left arm",
+    "Place the toycar with orange wheels on the small rounded plastic mouse's right side.",
+    "Put the toycar with orange wheels to the right of the hand-sized dark gray mouse.",
+    "Place the toycar with smooth finish on the right of the small rounded plastic mouse.",
+    "Set the blue toycar on the right of the dark gray computer mouse with logo.",
+    "Set the toycar with orange wheels to the right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse.",
+    "Grab the blue toycar and place it right of the hand-sized dark gray mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse",
+    "Put the toycar with smooth finish to the right of the dark gray computer mouse with logo.",
+    "Place the toycar with smooth finish rightward of the dark gray computer mouse with logo using the left arm",
+    "Place the blue toycar on the small rounded plastic mouse's right side.",
+    "Put the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Place the blue toycar on the right of the dark gray computer mouse with logo.",
+    "Set the toycar with orange wheels on the right of the dark gray computer mouse with logo.",
+    "Set the blue toycar to the right of the dark gray computer mouse with logo.",
+    "Put the toycar with orange wheels to the right of the small rounded plastic mouse.",
+    "Grab the toycar with smooth finish and place it right of the small rounded plastic mouse.",
+    "Put the toycar with smooth finish to the right of the small rounded plastic mouse",
+    "Put the toycar with orange wheels to the right of the hand-sized dark gray mouse.",
+    "Place the toycar with orange wheels rightward of the hand-sized dark gray mouse using the left arm"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode430.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to set the flat phone right of the smooth rubikscube with black frame edges.",
+    "Direct the left arm to place the lightweight phone right of the puzzle rubikscube with 3x3 grid per side.",
+    "Move the phone for calls and apps to the rubikscube showing red and white squares's right using the left arm",
+    "Move the flat phone using the left arm to the puzzle rubikscube with 3x3 grid per side's right position.",
+    "Stick the sleek rectangular phone on the colorful rubikscube for twisting and solving's right side",
+    "Use the left arm to place the phone for calls and apps right of the puzzle rubikscube with 3x3 grid per side.",
+    "Grab the compact phone using the left arm and set it to the rubikscube's right.",
+    "Use the left arm to position the phone with buttons and screen to the rubikscube with bright primary colors's right.",
+    "Set the sleek rectangular phone carefully on the small plastic rubikscube's right side.",
+    "Use the left arm to place the phone with digital display right of the rubikscube with smooth square tiles.",
+    "Set the phone with digital display right next to the small plastic rubikscube's right side.",
+    "Use the left arm to set the phone with digital display right of the rubikscube featuring white, green, orange tiles.",
+    "Move the glass-faced phone right of the plastic rubikscube with six colored sides with the left arm",
+    "Put the lightweight phone at the right of the small plastic rubikscube",
+    "Set the flat phone on the multi-colored cube's right side",
+    "Place the black and white phone on the right of the rubikscube with smooth square tiles.",
+    "Position the lightweight phone at the right side of the multi-colored cube",
+    "Position the black and white phone to the right of the puzzle rubikscube with 3x3 grid per side.",
+    "Make sure the phone with digital display is placed right of the colorful rubikscube for twisting and solving.",
+    "Move the glass-faced phone and place it carefully to the multi-sided rubikscube with rotating pieces's right.",
+    "Put the phone for calls and apps exactly to the right of the rubikscube showing red and white squares.",
+    "Put the phone with buttons and screen using the left arm on the right of the multi-sided rubikscube with rotating pieces.",
+    "Position the sleek rectangular phone to the plastic rubikscube with six colored sides's right using the left arm",
+    "Set the palm-sized black and white phone neatly on the right side of the smooth rubikscube with black frame edges.",
+    "Grab the flat phone with the left arm and place it right of the rubikscube.",
+    "Set the phone for calls and apps using the left arm at the multi-colored cube's right",
+    "Grab the phone for calls and apps using the left arm, then move it to the multi-sided rubikscube with rotating pieces's right.",
+    "Shift the palm-sized black and white phone to the right of the colorful rubikscube for twisting and solving",
+    "Bring the phone with touchscreen to the right position of the rubikscube.",
+    "Set the palm-sized black and white phone on the right side of the smooth rubikscube with black frame edges.",
+    "Place the smooth-screen phone directly on the small plastic rubikscube's right.",
+    "Grab the black and white phone using the left arm and place it right of the plastic rubikscube with six colored sides.",
+    "Ensure the flat phone is on the right of the plastic rubikscube with six colored sides.",
+    "Move the sleek rectangular phone to the rubikscube's right position.",
+    "Using the left arm, position the palm-sized black and white phone to the right of the multi-colored cube.",
+    "Set the phone with touchscreen properly on the right of the rubikscube with smooth square tiles.",
+    "Place the phone with touchscreen using the left arm at the rubikscube with bright primary colors's right",
+    "Take the phone with touchscreen with the left arm and position it right of the rubikscube with smooth square tiles.",
+    "Ensure the sleek rectangular phone is placed on the right of the multi-colored cube.",
+    "With the left arm, move the phone with digital display to the rubikscube with bright primary colors's right.",
+    "Move the compact phone and place it to the puzzle rubikscube with 3x3 grid per side's right.",
+    "Move the lightweight phone and set it to the plastic rubikscube with six colored sides's right.",
+    "Place the phone with touchscreen precisely to the right of the puzzle rubikscube with 3x3 grid per side.",
+    "Using the left arm, position the glass-faced phone to the right of the puzzle rubikscube with 3x3 grid per side.",
+    "Grasp the compact phone with the left arm and move it to the small plastic rubikscube's right.",
+    "Position the glass-faced phone directly to the right of the smooth rubikscube with black frame edges.",
+    "Grab the glass-faced phone with the left arm and set right of the colorful rubikscube for twisting and solving.",
+    "Set the phone with buttons and screen down on the plastic rubikscube with six colored sides's right side.",
+    "Position the phone with digital display to the right of the rubikscube featuring white, green, orange tiles.",
+    "Move the phone with touchscreen to the right beside the rubikscube with smooth square tiles.",
+    "Use the left arm to set the phone with digital display right of the rubikscube showing red and white squares.",
+    "Direct the left arm to place the sleek rectangular phone right of the multi-sided rubikscube with rotating pieces.",
+    "Move the phone with digital display to the rubikscube featuring white, green, orange tiles's right using the left arm",
+    "Move the black and white phone using the left arm to the smooth rubikscube with black frame edges's right position.",
+    "Stick the sleek rectangular phone on the smooth rubikscube with black frame edges's right side",
+    "Use the left arm to place the flat phone right of the plastic rubikscube with six colored sides.",
+    "Grab the phone with touchscreen using the left arm and set it to the rubikscube with bright primary colors's right.",
+    "Use the left arm to position the flat phone to the multi-colored cube's right.",
+    "Set the phone with digital display carefully on the multi-colored cube's right side.",
+    "Use the left arm to place the smooth-screen phone right of the colorful rubikscube for twisting and solving.",
+    "Set the smooth-screen phone right next to the rubikscube featuring white, green, orange tiles's right side.",
+    "Use the left arm to set the palm-sized black and white phone right of the multi-colored cube.",
+    "Move the glass-faced phone right of the rubikscube with bright primary colors with the left arm",
+    "Put the phone with touchscreen at the right of the rubikscube showing red and white squares",
+    "Set the compact phone on the colorful rubikscube for twisting and solving's right side",
+    "Place the phone with buttons and screen on the right of the rubikscube featuring white, green, orange tiles.",
+    "Position the phone with digital display at the right side of the small plastic rubikscube",
+    "Position the flat phone to the right of the plastic rubikscube with six colored sides.",
+    "Make sure the compact phone is placed right of the colorful rubikscube for twisting and solving.",
+    "Move the flat phone and place it carefully to the rubikscube's right.",
+    "Put the lightweight phone exactly to the right of the colorful rubikscube for twisting and solving.",
+    "Put the palm-sized black and white phone using the left arm on the right of the smooth rubikscube with black frame edges.",
+    "Position the compact phone to the rubikscube's right using the left arm",
+    "Set the glass-faced phone neatly on the right side of the rubikscube with bright primary colors.",
+    "Grab the sleek rectangular phone with the left arm and place it right of the rubikscube with smooth square tiles.",
+    "Set the phone with digital display using the left arm at the rubikscube with smooth square tiles's right",
+    "Grab the palm-sized black and white phone using the left arm, then move it to the plastic rubikscube with six colored sides's right.",
+    "Shift the palm-sized black and white phone to the right of the small plastic rubikscube",
+    "Bring the phone with digital display to the right position of the rubikscube featuring white, green, orange tiles.",
+    "Set the flat phone on the right side of the colorful rubikscube for twisting and solving.",
+    "Place the lightweight phone directly on the puzzle rubikscube with 3x3 grid per side's right.",
+    "Grab the glass-faced phone using the left arm and place it right of the puzzle rubikscube with 3x3 grid per side.",
+    "Ensure the smooth-screen phone is on the right of the colorful rubikscube for twisting and solving.",
+    "Move the black and white phone to the rubikscube showing red and white squares's right position.",
+    "Using the left arm, position the sleek rectangular phone to the right of the rubikscube showing red and white squares.",
+    "Set the smooth-screen phone properly on the right of the rubikscube with smooth square tiles.",
+    "Place the sleek rectangular phone using the left arm at the multi-colored cube's right",
+    "Take the lightweight phone with the left arm and position it right of the small plastic rubikscube.",
+    "Ensure the sleek rectangular phone is placed on the right of the rubikscube.",
+    "With the left arm, move the black and white phone to the puzzle rubikscube with 3x3 grid per side's right.",
+    "Move the phone for calls and apps and place it to the multi-sided rubikscube with rotating pieces's right.",
+    "Move the glass-faced phone and set it to the smooth rubikscube with black frame edges's right.",
+    "Place the palm-sized black and white phone precisely to the right of the multi-colored cube.",
+    "Using the left arm, position the sleek rectangular phone to the right of the rubikscube.",
+    "Grasp the glass-faced phone with the left arm and move it to the puzzle rubikscube with 3x3 grid per side's right.",
+    "Position the palm-sized black and white phone directly to the right of the rubikscube.",
+    "Grab the compact phone with the left arm and set right of the rubikscube showing red and white squares.",
+    "Set the compact phone down on the multi-colored cube's right side.",
+    "Position the flat phone to the right of the rubikscube with smooth square tiles.",
+    "Move the phone with touchscreen to the right beside the rubikscube featuring white, green, orange tiles."
+  ],
+  "unseen": [
+    "Place the rectangular phone rightward of the hand-sized rubikscube with colored squares using the left arm",
+    "Place the phone with rounded edges on the toy cube with orange and blue squares's right side.",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Grab the white-sided phone and place it right of the hand-sized rubikscube with colored squares.",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Set the white-sided phone to the right of the hand-sized rubikscube with colored squares.",
+    "Place the white-sided phone on the right of the red, blue, green, yellow rubikscube.",
+    "Put the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Set the phone with rounded edges on the right of the hand-sized rubikscube with colored squares.",
+    "Place the white-sided phone rightward of the toy cube with orange and blue squares using the left arm",
+    "Place the white-sided phone on the hand-sized rubikscube with colored squares's right side.",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Grab the rectangular phone and place it right of the toy cube with orange and blue squares.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares",
+    "Put the rectangular phone to the right of the hand-sized rubikscube with colored squares.",
+    "Set the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Place the rectangular phone on the right of the hand-sized rubikscube with colored squares.",
+    "Put the rectangular phone to the right of the toy cube with orange and blue squares.",
+    "Set the phone with rounded edges on the right of the hand-sized rubikscube with colored squares.",
+    "Place the rectangular phone rightward of the red, blue, green, yellow rubikscube using the left arm",
+    "Place the rectangular phone on the red, blue, green, yellow rubikscube's right side.",
+    "Put the rectangular phone to the right of the toy cube with orange and blue squares.",
+    "Grab the phone with rounded edges and place it right of the hand-sized rubikscube with colored squares.",
+    "Put the white-sided phone to the right of the hand-sized rubikscube with colored squares",
+    "Put the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Set the rectangular phone to the right of the hand-sized rubikscube with colored squares.",
+    "Place the phone with rounded edges on the right of the toy cube with orange and blue squares.",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Set the rectangular phone on the right of the red, blue, green, yellow rubikscube.",
+    "Place the rectangular phone rightward of the toy cube with orange and blue squares using the left arm",
+    "Place the white-sided phone on the hand-sized rubikscube with colored squares's right side.",
+    "Put the rectangular phone to the right of the red, blue, green, yellow rubikscube.",
+    "Grab the rectangular phone and place it right of the toy cube with orange and blue squares.",
+    "Put the rectangular phone to the right of the hand-sized rubikscube with colored squares",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Set the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Place the rectangular phone on the right of the hand-sized rubikscube with colored squares.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares.",
+    "Set the white-sided phone on the right of the hand-sized rubikscube with colored squares.",
+    "Place the rectangular phone rightward of the toy cube with orange and blue squares using the left arm",
+    "Place the white-sided phone on the toy cube with orange and blue squares's right side.",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Grab the rectangular phone and place it right of the toy cube with orange and blue squares.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares",
+    "Put the rectangular phone to the right of the red, blue, green, yellow rubikscube.",
+    "Set the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Place the phone with rounded edges on the right of the toy cube with orange and blue squares.",
+    "Put the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Set the white-sided phone on the right of the hand-sized rubikscube with colored squares.",
+    "Place the phone with rounded edges rightward of the hand-sized rubikscube with colored squares using the left arm",
+    "Place the rectangular phone on the toy cube with orange and blue squares's right side.",
+    "Put the white-sided phone to the right of the hand-sized rubikscube with colored squares.",
+    "Grab the white-sided phone and place it right of the red, blue, green, yellow rubikscube.",
+    "Put the rectangular phone to the right of the hand-sized rubikscube with colored squares",
+    "Put the rectangular phone to the right of the red, blue, green, yellow rubikscube.",
+    "Set the rectangular phone to the right of the hand-sized rubikscube with colored squares.",
+    "Place the white-sided phone on the right of the hand-sized rubikscube with colored squares.",
+    "Put the white-sided phone to the right of the hand-sized rubikscube with colored squares.",
+    "Set the white-sided phone on the right of the toy cube with orange and blue squares.",
+    "Place the white-sided phone rightward of the red, blue, green, yellow rubikscube using the left arm",
+    "Place the phone with rounded edges on the hand-sized rubikscube with colored squares's right side.",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Grab the rectangular phone and place it right of the toy cube with orange and blue squares.",
+    "Put the rectangular phone to the right of the toy cube with orange and blue squares",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Set the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Place the phone with rounded edges on the right of the red, blue, green, yellow rubikscube.",
+    "Put the rectangular phone to the right of the hand-sized rubikscube with colored squares.",
+    "Set the white-sided phone on the right of the toy cube with orange and blue squares.",
+    "Place the white-sided phone rightward of the red, blue, green, yellow rubikscube using the left arm",
+    "Place the rectangular phone on the toy cube with orange and blue squares's right side.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares.",
+    "Grab the white-sided phone and place it right of the red, blue, green, yellow rubikscube.",
+    "Put the rectangular phone to the right of the toy cube with orange and blue squares",
+    "Put the white-sided phone to the right of the toy cube with orange and blue squares.",
+    "Set the rectangular phone to the right of the red, blue, green, yellow rubikscube.",
+    "Place the white-sided phone on the right of the red, blue, green, yellow rubikscube.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares.",
+    "Set the white-sided phone on the right of the hand-sized rubikscube with colored squares.",
+    "Place the rectangular phone rightward of the toy cube with orange and blue squares using the left arm",
+    "Place the phone with rounded edges on the toy cube with orange and blue squares's right side.",
+    "Put the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Grab the rectangular phone and place it right of the toy cube with orange and blue squares.",
+    "Put the rectangular phone to the right of the hand-sized rubikscube with colored squares",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Set the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Place the white-sided phone on the right of the red, blue, green, yellow rubikscube.",
+    "Put the white-sided phone to the right of the red, blue, green, yellow rubikscube.",
+    "Set the white-sided phone on the right of the hand-sized rubikscube with colored squares.",
+    "Place the phone with rounded edges rightward of the hand-sized rubikscube with colored squares using the left arm",
+    "Place the white-sided phone on the hand-sized rubikscube with colored squares's right side.",
+    "Put the phone with rounded edges to the right of the toy cube with orange and blue squares.",
+    "Grab the white-sided phone and place it right of the red, blue, green, yellow rubikscube.",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube",
+    "Put the phone with rounded edges to the right of the red, blue, green, yellow rubikscube.",
+    "Set the phone with rounded edges to the right of the hand-sized rubikscube with colored squares.",
+    "Place the white-sided phone on the right of the red, blue, green, yellow rubikscube.",
+    "Put the white-sided phone to the right of the red, blue, green, yellow rubikscube.",
+    "Set the rectangular phone on the right of the hand-sized rubikscube with colored squares."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode441.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the rectangle tea-box right of the stapler for fastening papers with the right arm",
+    "Bring the cardboard tea-box to the right position of the stapler with red top.",
+    "Take the printed tea-box with the right arm and position it right of the stapler with metallic staple slot.",
+    "Grab the rectangle tea-box with the right arm and place it right of the manual stapler with black base.",
+    "Grab the decorative tea-box using the right arm and place it right of the red stapler with black base.",
+    "Place the black tea-box using the right arm at the red stapler's right",
+    "Set the compact rectangular tea-box right next to the manual stapler with black base's right side.",
+    "Place the smooth black tea-box on the right of the red stapler.",
+    "Set the printed tea-box carefully on the red stapler with black base's right side.",
+    "Set the decorative tea-box on the right side of the stapler for fastening papers.",
+    "Set the black tea-box with turquoise sides neatly on the right side of the stapler with metallic staple slot.",
+    "Move the rectangle tea-box to the stapler with red top's right using the right arm",
+    "Ensure the compact rectangular tea-box is placed on the right of the red stapler with black base.",
+    "Position the gold accented tea-box to the right of the office stapler with plastic and metal parts.",
+    "Position the printed tea-box directly to the right of the red stapler with black base.",
+    "Move the smooth black tea-box and place it to the red stapler with black base's right.",
+    "Use the right arm to place the black tea-box right of the desk stapler with red body.",
+    "Use the right arm to set the compact rectangular tea-box right of the stapler for fastening papers.",
+    "Move the rectangle tea-box to the stapler for fastening papers's right position.",
+    "Make sure the compact rectangular tea-box is placed right of the small handheld stapler.",
+    "Set the tea-box on the desk stapler with red body's right side",
+    "Set the compact rectangular tea-box using the right arm at the red stapler with black base's right",
+    "Use the right arm to place the rectangle tea-box right of the small handheld stapler.",
+    "Using the right arm, position the black tea-box with turquoise sides to the right of the office stapler with plastic and metal parts.",
+    "Set the tea-box down on the red top black bottom stapler's right side.",
+    "Grasp the tea-box with floral design with the right arm and move it to the stapler with red top's right.",
+    "Using the right arm, position the black tea-box to the right of the small handheld stapler.",
+    "Move the black tea-box with gold logo to the right beside the red top black bottom stapler.",
+    "Grab the black tea-box with turquoise sides with the right arm and set right of the red stapler with black base.",
+    "Move the printed tea-box using the right arm to the compact office stapler's right position.",
+    "With the right arm, move the printed tea-box to the red top black bottom stapler's right.",
+    "Move the black tea-box with turquoise sides and set it to the office stapler with plastic and metal parts's right.",
+    "Direct the right arm to place the decorative tea-box right of the red top black bottom stapler.",
+    "Stick the rectangle tea-box on the manual stapler with black base's right side",
+    "Grab the black tea-box with turquoise sides using the right arm and set it to the red plastic stapler with smooth top's right.",
+    "Put the cardboard tea-box using the right arm on the right of the manual stapler with black base.",
+    "Shift the black tea-box with gold logo to the right of the compact office stapler",
+    "Set the cardboard tea-box properly on the right of the stapler for fastening papers.",
+    "Position the black tea-box to the red plastic stapler with smooth top's right using the right arm",
+    "Place the tea-box with floral design precisely to the right of the stapler for fastening papers.",
+    "Place the black tea-box directly on the small handheld stapler's right.",
+    "Use the right arm to set the rectangle tea-box right of the stapler for fastening papers.",
+    "Ensure the compact rectangular tea-box is on the right of the compact office stapler.",
+    "Position the tea-box with floral design at the right side of the red stapler with black base",
+    "Grab the smooth black tea-box using the right arm, then move it to the red plastic stapler with smooth top's right.",
+    "Use the right arm to position the smooth black tea-box to the compact office stapler's right.",
+    "Move the cardboard tea-box and place it carefully to the red stapler's right.",
+    "Put the decorative tea-box exactly to the right of the red stapler.",
+    "Put the tea-box with floral design at the right of the office stapler with plastic and metal parts",
+    "Position the decorative tea-box to the right of the red top black bottom stapler.",
+    "Move the tea-box with floral design right of the small handheld stapler with the right arm",
+    "Bring the black tea-box with turquoise sides to the right position of the stapler for fastening papers.",
+    "Take the printed tea-box with the right arm and position it right of the red plastic stapler with smooth top.",
+    "Grab the tea-box with floral design with the right arm and place it right of the manual stapler with black base.",
+    "Grab the compact rectangular tea-box using the right arm and place it right of the red stapler with black base.",
+    "Place the smooth black tea-box using the right arm at the red stapler with black base's right",
+    "Set the decorative tea-box right next to the compact office stapler's right side.",
+    "Place the cardboard tea-box on the right of the red stapler.",
+    "Set the tea-box carefully on the manual stapler with black base's right side.",
+    "Set the gold accented tea-box on the right side of the stapler with red top.",
+    "Set the tea-box with floral design neatly on the right side of the stapler with metallic staple slot.",
+    "Move the cardboard tea-box to the red stapler with black base's right using the right arm",
+    "Ensure the printed tea-box is placed on the right of the desk stapler with red body.",
+    "Position the printed tea-box to the right of the compact office stapler.",
+    "Position the decorative tea-box directly to the right of the compact office stapler.",
+    "Move the black tea-box with turquoise sides and place it to the red top black bottom stapler's right.",
+    "Use the right arm to place the tea-box with floral design right of the office stapler with plastic and metal parts.",
+    "Use the right arm to set the black tea-box with turquoise sides right of the compact office stapler.",
+    "Move the black tea-box to the stapler for fastening papers's right position.",
+    "Make sure the black tea-box with gold logo is placed right of the desk stapler with red body.",
+    "Set the tea-box with floral design on the red stapler's right side",
+    "Set the tea-box using the right arm at the stapler with red top's right",
+    "Use the right arm to place the tea-box right of the red plastic stapler with smooth top.",
+    "Using the right arm, position the printed tea-box to the right of the manual stapler with black base.",
+    "Set the gold accented tea-box down on the stapler for fastening papers's right side.",
+    "Grasp the printed tea-box with the right arm and move it to the red plastic stapler with smooth top's right.",
+    "Using the right arm, position the black tea-box with gold logo to the right of the stapler with metallic staple slot.",
+    "Move the printed tea-box to the right beside the red plastic stapler with smooth top.",
+    "Grab the tea-box with the right arm and set right of the office stapler with plastic and metal parts.",
+    "Move the printed tea-box using the right arm to the stapler with red top's right position.",
+    "With the right arm, move the smooth black tea-box to the compact office stapler's right.",
+    "Move the black tea-box with gold logo and set it to the red top black bottom stapler's right.",
+    "Direct the right arm to place the gold accented tea-box right of the red stapler with black base.",
+    "Stick the black tea-box on the red top black bottom stapler's right side",
+    "Grab the gold accented tea-box using the right arm and set it to the red stapler with black base's right.",
+    "Put the black tea-box using the right arm on the right of the red stapler.",
+    "Shift the decorative tea-box to the right of the compact office stapler",
+    "Set the tea-box with floral design properly on the right of the small handheld stapler.",
+    "Position the black tea-box with gold logo to the red stapler with black base's right using the right arm",
+    "Place the decorative tea-box precisely to the right of the desk stapler with red body.",
+    "Place the rectangle tea-box directly on the desk stapler with red body's right.",
+    "Use the right arm to set the black tea-box with turquoise sides right of the stapler with red top.",
+    "Ensure the printed tea-box is on the right of the stapler for fastening papers.",
+    "Position the tea-box with floral design at the right side of the stapler with red top",
+    "Grab the rectangle tea-box using the right arm, then move it to the desk stapler with red body's right.",
+    "Use the right arm to position the smooth black tea-box to the red plastic stapler with smooth top's right.",
+    "Move the compact rectangular tea-box and place it carefully to the compact office stapler's right.",
+    "Put the compact rectangular tea-box exactly to the right of the red stapler with black base.",
+    "Put the smooth black tea-box at the right of the stapler with red top",
+    "Position the cardboard tea-box to the right of the office stapler with plastic and metal parts."
+  ],
+  "unseen": [
+    "Put the small tea-box to the right of the red stapler with silver chamber",
+    "Place the turquoise and black tea-box on the right of the paper stapler with curved handle.",
+    "Put the small tea-box to the right of the paper stapler with curved handle.",
+    "Set the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber.",
+    "Set the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the black tea-box with golden details to the right of the red plastic stapler.",
+    "Place the turquoise and black tea-box on the red plastic stapler's right side.",
+    "Grab the small tea-box and place it right of the red stapler with silver chamber.",
+    "Place the black tea-box with golden details rightward of the red stapler with silver chamber using the right arm",
+    "Put the turquoise and black tea-box to the right of the red stapler with silver chamber",
+    "Place the black tea-box with golden details on the right of the paper stapler with curved handle.",
+    "Put the black tea-box with golden details to the right of the paper stapler with curved handle.",
+    "Set the small tea-box to the right of the paper stapler with curved handle.",
+    "Put the small tea-box to the right of the red stapler with silver chamber.",
+    "Set the black tea-box with golden details on the right of the paper stapler with curved handle.",
+    "Put the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Place the black tea-box with golden details on the paper stapler with curved handle's right side.",
+    "Grab the small tea-box and place it right of the paper stapler with curved handle.",
+    "Place the turquoise and black tea-box rightward of the red stapler with silver chamber using the right arm",
+    "Put the black tea-box with golden details to the right of the paper stapler with curved handle",
+    "Place the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the small tea-box to the right of the red plastic stapler.",
+    "Set the small tea-box to the right of the paper stapler with curved handle.",
+    "Put the small tea-box to the right of the red plastic stapler.",
+    "Set the small tea-box on the right of the red stapler with silver chamber.",
+    "Put the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Place the small tea-box on the red plastic stapler's right side.",
+    "Grab the turquoise and black tea-box and place it right of the paper stapler with curved handle.",
+    "Place the small tea-box rightward of the red stapler with silver chamber using the right arm",
+    "Put the black tea-box with golden details to the right of the red plastic stapler",
+    "Place the turquoise and black tea-box on the right of the paper stapler with curved handle.",
+    "Put the black tea-box with golden details to the right of the red plastic stapler.",
+    "Set the small tea-box to the right of the red plastic stapler.",
+    "Put the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Set the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the black tea-box with golden details to the right of the red plastic stapler.",
+    "Place the small tea-box on the red plastic stapler's right side.",
+    "Grab the black tea-box with golden details and place it right of the red stapler with silver chamber.",
+    "Place the black tea-box with golden details rightward of the red stapler with silver chamber using the right arm",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber",
+    "Place the small tea-box on the right of the red plastic stapler.",
+    "Put the black tea-box with golden details to the right of the paper stapler with curved handle.",
+    "Set the black tea-box with golden details to the right of the red plastic stapler.",
+    "Put the small tea-box to the right of the red plastic stapler.",
+    "Set the small tea-box on the right of the red stapler with silver chamber.",
+    "Put the small tea-box to the right of the red plastic stapler.",
+    "Place the turquoise and black tea-box on the red plastic stapler's right side.",
+    "Grab the small tea-box and place it right of the paper stapler with curved handle.",
+    "Place the turquoise and black tea-box rightward of the red plastic stapler using the right arm",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber",
+    "Place the turquoise and black tea-box on the right of the paper stapler with curved handle.",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber.",
+    "Set the black tea-box with golden details to the right of the red plastic stapler.",
+    "Put the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Set the turquoise and black tea-box on the right of the paper stapler with curved handle.",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber.",
+    "Place the black tea-box with golden details on the red plastic stapler's right side.",
+    "Grab the turquoise and black tea-box and place it right of the red plastic stapler.",
+    "Place the black tea-box with golden details rightward of the red stapler with silver chamber using the right arm",
+    "Put the small tea-box to the right of the paper stapler with curved handle",
+    "Place the turquoise and black tea-box on the right of the red stapler with silver chamber.",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber.",
+    "Set the small tea-box to the right of the red plastic stapler.",
+    "Put the turquoise and black tea-box to the right of the red stapler with silver chamber.",
+    "Set the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the turquoise and black tea-box to the right of the red stapler with silver chamber.",
+    "Place the small tea-box on the red stapler with silver chamber's right side.",
+    "Grab the small tea-box and place it right of the paper stapler with curved handle.",
+    "Place the turquoise and black tea-box rightward of the paper stapler with curved handle using the right arm",
+    "Put the small tea-box to the right of the red stapler with silver chamber",
+    "Place the turquoise and black tea-box on the right of the paper stapler with curved handle.",
+    "Put the turquoise and black tea-box to the right of the red plastic stapler.",
+    "Set the small tea-box to the right of the red stapler with silver chamber.",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber.",
+    "Set the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the small tea-box to the right of the red plastic stapler.",
+    "Place the turquoise and black tea-box on the red stapler with silver chamber's right side.",
+    "Grab the turquoise and black tea-box and place it right of the red stapler with silver chamber.",
+    "Place the black tea-box with golden details rightward of the red plastic stapler using the right arm",
+    "Put the black tea-box with golden details to the right of the red plastic stapler",
+    "Place the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the black tea-box with golden details to the right of the paper stapler with curved handle.",
+    "Set the small tea-box to the right of the red stapler with silver chamber.",
+    "Put the turquoise and black tea-box to the right of the paper stapler with curved handle.",
+    "Set the small tea-box on the right of the red stapler with silver chamber.",
+    "Put the turquoise and black tea-box to the right of the red plastic stapler.",
+    "Place the turquoise and black tea-box on the red plastic stapler's right side.",
+    "Grab the black tea-box with golden details and place it right of the red stapler with silver chamber.",
+    "Place the turquoise and black tea-box rightward of the red plastic stapler using the right arm",
+    "Put the black tea-box with golden details to the right of the red stapler with silver chamber",
+    "Place the black tea-box with golden details on the right of the red plastic stapler.",
+    "Put the black tea-box with golden details to the right of the red plastic stapler.",
+    "Set the black tea-box with golden details to the right of the paper stapler with curved handle.",
+    "Put the turquoise and black tea-box to the right of the red plastic stapler.",
+    "Set the turquoise and black tea-box on the right of the red stapler with silver chamber.",
+    "Put the black tea-box with golden details to the right of the paper stapler with curved handle.",
+    "Place the black tea-box with golden details on the red stapler with silver chamber's right side.",
+    "Grab the turquoise and black tea-box and place it right of the red plastic stapler.",
+    "Place the black tea-box with golden details rightward of the red plastic stapler using the right arm"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode463.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bright red tea-box with logo directly to the right of the rectangular red coffee-box.",
+    "Shift the bright red tea-box with logo to the right of the rectangular red coffee-box",
+    "Set the rectangular tea-box on the rectangular red coffee-box's right side",
+    "Use the right arm to set the tea-box with rectangular edges right of the red coffee-box.",
+    "Ensure the box for holding tea is placed on the right of the coffee-box with smooth finish.",
+    "Use the right arm to place the rectangular tea-box right of the rectangular box holding coffee sachets.",
+    "Place the rectangular tea-box precisely to the right of the bright red coffee-box.",
+    "Put the box for holding tea using the right arm on the right of the coffee-box with sachets.",
+    "Move the box for holding tea using the right arm to the coffee-box with creamy coffee image's right position.",
+    "Use the right arm to place the tea-box with bold white writing right of the red coffee-box.",
+    "Place the rectangular tea-box directly on the red coffee-box's right.",
+    "Put the smooth glossy tea-box exactly to the right of the coffee-box with creamy coffee image.",
+    "Use the right arm to position the rectangular box for tea to the coffee-box with smooth finish's right.",
+    "Set the tea-box with rectangular edges on the right side of the coffee-box with smooth finish.",
+    "Position the bright red tea-box with logo to the right of the coffee-box with Nescafe branding.",
+    "Set the red cardboard tea-box using the right arm at the Nescafe coffee-box with shiny surface's right",
+    "Set the medium-sized red tea-box carefully on the rectangular red coffee-box's right side.",
+    "Grab the rectangular tea-box using the right arm and place it right of the coffee-box with smooth finish.",
+    "Make sure the medium-sized red tea-box is placed right of the coffee-box with Nescafe branding.",
+    "Position the rectangular box for tea to the red box for coffee sachets's right using the right arm",
+    "With the right arm, move the rectangular tea-box to the medium rectangular red coffee-box's right.",
+    "Move the rectangular box for tea and set it to the Nescafe coffee-box with shiny surface's right.",
+    "Set the glossy bright tea-box neatly on the right side of the red box for coffee sachets.",
+    "Grab the medium-sized red tea-box with the right arm and place it right of the coffee-box with creamy coffee image.",
+    "Take the rectangular box for tea with the right arm and position it right of the coffee-box with creamy coffee image.",
+    "Grab the medium-sized red tea-box using the right arm, then move it to the coffee-box with Nescafe branding's right.",
+    "Move the tea-box with rectangular edges and place it carefully to the red coffee-box's right.",
+    "Use the right arm to set the tea-box with white TEA text right of the coffee-box with creamy coffee image.",
+    "Move the box for holding tea right of the bright red coffee-box with the right arm",
+    "Grab the rectangular box for tea using the right arm and set it to the red box for coffee sachets's right.",
+    "Using the right arm, position the glossy bright tea-box to the right of the smooth glossy coffee-box.",
+    "Bring the tea-box with rectangular edges to the right position of the smooth glossy coffee-box.",
+    "Set the box for holding tea right next to the rectangular red coffee-box's right side.",
+    "Direct the right arm to place the rectangular tea-box right of the smooth glossy coffee-box.",
+    "Position the red cardboard tea-box to the right of the smooth glossy coffee-box.",
+    "Using the right arm, position the smooth glossy tea-box to the right of the coffee-box with sachets.",
+    "Put the rectangular tea-box at the right of the rectangular box holding coffee sachets",
+    "Set the red cuboid-shaped tea-box properly on the right of the coffee-box with creamy coffee image.",
+    "Grasp the rectangular tea-box with the right arm and move it to the rectangular box holding coffee sachets's right.",
+    "Ensure the rectangular tea-box is on the right of the smooth glossy coffee-box.",
+    "Position the red cardboard tea-box at the right side of the rectangular box holding coffee sachets",
+    "Place the smooth glossy tea-box using the right arm at the coffee-box with smooth finish's right",
+    "Grab the box for holding tea with the right arm and set right of the coffee-box with creamy coffee image.",
+    "Move the rectangular box for tea to the right beside the coffee-box with Nescafe branding.",
+    "Move the bright red tea-box with logo to the coffee-box with Nescafe branding's right position.",
+    "Move the smooth glossy tea-box to the smooth glossy coffee-box's right using the right arm",
+    "Place the tea-box with white TEA text on the right of the rectangular box holding coffee sachets.",
+    "Set the rectangular tea-box down on the coffee-box with creamy coffee image's right side.",
+    "Stick the tea-box with white TEA text on the red box for coffee sachets's right side",
+    "Move the glossy bright tea-box and place it to the rectangular red coffee-box's right.",
+    "Position the glossy bright tea-box directly to the right of the Nescafe coffee-box with shiny surface.",
+    "Shift the smooth glossy tea-box to the right of the medium rectangular red coffee-box",
+    "Set the rectangular box for tea on the coffee-box with smooth finish's right side",
+    "Use the right arm to set the tea-box with white TEA text right of the rectangular red coffee-box.",
+    "Ensure the red cuboid-shaped tea-box is placed on the right of the rectangular red coffee-box.",
+    "Use the right arm to place the bright red tea-box with logo right of the medium rectangular red coffee-box.",
+    "Place the medium-sized red tea-box precisely to the right of the coffee-box with creamy coffee image.",
+    "Put the smooth glossy tea-box using the right arm on the right of the rectangular box holding coffee sachets.",
+    "Move the tea-box with white TEA text using the right arm to the coffee-box with Nescafe branding's right position.",
+    "Use the right arm to place the bright red tea-box with logo right of the bright red coffee-box.",
+    "Place the tea-box with white TEA text directly on the red box for coffee sachets's right.",
+    "Put the rectangular box for tea exactly to the right of the coffee-box with sachets.",
+    "Use the right arm to position the rectangular box for tea to the rectangular box holding coffee sachets's right.",
+    "Set the rectangular box for tea on the right side of the red coffee-box.",
+    "Position the bright red tea-box with logo to the right of the red coffee-box.",
+    "Set the bright red tea-box with logo using the right arm at the coffee-box with smooth finish's right",
+    "Set the red cuboid-shaped tea-box carefully on the medium rectangular red coffee-box's right side.",
+    "Grab the tea-box with rectangular edges using the right arm and place it right of the bright red coffee-box.",
+    "Make sure the rectangular tea-box is placed right of the red coffee-box.",
+    "Position the tea-box with rectangular edges to the red box for coffee sachets's right using the right arm",
+    "With the right arm, move the medium-sized red tea-box to the coffee-box with sachets's right.",
+    "Move the red cuboid-shaped tea-box and set it to the coffee-box with smooth finish's right.",
+    "Set the rectangular tea-box neatly on the right side of the bright red coffee-box.",
+    "Grab the medium-sized red tea-box with the right arm and place it right of the rectangular red coffee-box.",
+    "Take the rectangular box for tea with the right arm and position it right of the rectangular box holding coffee sachets.",
+    "Grab the red cardboard tea-box using the right arm, then move it to the bright red coffee-box's right.",
+    "Move the bright red tea-box with logo and place it carefully to the coffee-box with sachets's right.",
+    "Use the right arm to set the medium-sized red tea-box right of the smooth glossy coffee-box.",
+    "Move the tea-box with bold white writing right of the coffee-box with smooth finish with the right arm",
+    "Grab the smooth glossy tea-box using the right arm and set it to the medium rectangular red coffee-box's right.",
+    "Using the right arm, position the red cuboid-shaped tea-box to the right of the red coffee-box.",
+    "Bring the tea-box with white TEA text to the right position of the red box for coffee sachets.",
+    "Set the tea-box with bold white writing right next to the rectangular box holding coffee sachets's right side.",
+    "Direct the right arm to place the red cuboid-shaped tea-box right of the rectangular box holding coffee sachets.",
+    "Position the bright red tea-box with logo to the right of the smooth glossy coffee-box.",
+    "Using the right arm, position the glossy bright tea-box to the right of the smooth glossy coffee-box.",
+    "Put the red cardboard tea-box at the right of the coffee-box with Nescafe branding",
+    "Set the tea-box with bold white writing properly on the right of the rectangular red coffee-box.",
+    "Grasp the medium-sized red tea-box with the right arm and move it to the rectangular box holding coffee sachets's right.",
+    "Ensure the bright red tea-box with logo is on the right of the coffee-box with sachets.",
+    "Position the rectangular tea-box at the right side of the smooth glossy coffee-box",
+    "Place the glossy bright tea-box using the right arm at the bright red coffee-box's right",
+    "Grab the medium-sized red tea-box with the right arm and set right of the bright red coffee-box.",
+    "Move the red cardboard tea-box to the right beside the Nescafe coffee-box with shiny surface.",
+    "Move the smooth glossy tea-box to the coffee-box with smooth finish's right position.",
+    "Move the medium-sized red tea-box to the smooth glossy coffee-box's right using the right arm",
+    "Place the red cuboid-shaped tea-box on the right of the Nescafe coffee-box with shiny surface.",
+    "Set the bright red tea-box with logo down on the rectangular box holding coffee sachets's right side.",
+    "Stick the box for holding tea on the Nescafe coffee-box with shiny surface's right side",
+    "Move the medium-sized red tea-box and place it to the smooth glossy coffee-box's right."
+  ],
+  "unseen": [
+    "Put the red tea-box to the right of the box with coffee graphics.",
+    "Place the medium tea-box for gatherings rightward of the box with coffee graphics using the right arm",
+    "Put the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Set the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box",
+    "Place the medium tea-box for gatherings on the medium coffee-box's right side.",
+    "Place the red tea-box with golden designs on the right of the cardboard coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the box with coffee graphics.",
+    "Set the medium tea-box for gatherings on the right of the cardboard coffee-box.",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Place the medium tea-box for gatherings rightward of the cardboard coffee-box using the right arm",
+    "Put the red tea-box to the right of the box with coffee graphics.",
+    "Set the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Put the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the box with coffee graphics",
+    "Place the red tea-box with golden designs on the cardboard coffee-box's right side.",
+    "Place the medium tea-box for gatherings on the right of the box with coffee graphics.",
+    "Grab the red tea-box and place it right of the cardboard coffee-box.",
+    "Set the red tea-box with golden designs on the right of the medium coffee-box.",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Place the red tea-box with golden designs rightward of the cardboard coffee-box using the right arm",
+    "Put the medium tea-box for gatherings to the right of the medium coffee-box.",
+    "Set the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the box with coffee graphics",
+    "Place the red tea-box with golden designs on the medium coffee-box's right side.",
+    "Place the red tea-box with golden designs on the right of the medium coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the box with coffee graphics.",
+    "Set the red tea-box with golden designs on the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the medium coffee-box.",
+    "Place the red tea-box rightward of the medium coffee-box using the right arm",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Set the red tea-box to the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the medium coffee-box.",
+    "Put the red tea-box to the right of the cardboard coffee-box",
+    "Place the medium tea-box for gatherings on the box with coffee graphics's right side.",
+    "Place the red tea-box on the right of the box with coffee graphics.",
+    "Grab the medium tea-box for gatherings and place it right of the box with coffee graphics.",
+    "Set the red tea-box with golden designs on the right of the medium coffee-box.",
+    "Put the red tea-box with golden designs to the right of the box with coffee graphics.",
+    "Place the red tea-box rightward of the medium coffee-box using the right arm",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Set the red tea-box with golden designs to the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the medium coffee-box",
+    "Place the red tea-box with golden designs on the box with coffee graphics's right side.",
+    "Place the medium tea-box for gatherings on the right of the medium coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the box with coffee graphics.",
+    "Set the medium tea-box for gatherings on the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the box with coffee graphics.",
+    "Place the red tea-box with golden designs rightward of the medium coffee-box using the right arm",
+    "Put the medium tea-box for gatherings to the right of the box with coffee graphics.",
+    "Set the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Put the red tea-box to the right of the medium coffee-box.",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box",
+    "Place the red tea-box on the cardboard coffee-box's right side.",
+    "Place the red tea-box on the right of the medium coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the medium coffee-box.",
+    "Set the red tea-box on the right of the box with coffee graphics.",
+    "Put the medium tea-box for gatherings to the right of the medium coffee-box.",
+    "Place the red tea-box rightward of the box with coffee graphics using the right arm",
+    "Put the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Set the medium tea-box for gatherings to the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the cardboard coffee-box.",
+    "Put the red tea-box to the right of the cardboard coffee-box",
+    "Place the red tea-box on the box with coffee graphics's right side.",
+    "Place the red tea-box on the right of the medium coffee-box.",
+    "Grab the red tea-box and place it right of the medium coffee-box.",
+    "Set the red tea-box on the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the cardboard coffee-box.",
+    "Place the red tea-box rightward of the medium coffee-box using the right arm",
+    "Put the red tea-box with golden designs to the right of the cardboard coffee-box.",
+    "Set the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Put the red tea-box with golden designs to the right of the medium coffee-box.",
+    "Put the red tea-box to the right of the medium coffee-box",
+    "Place the medium tea-box for gatherings on the cardboard coffee-box's right side.",
+    "Place the medium tea-box for gatherings on the right of the medium coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the box with coffee graphics.",
+    "Set the medium tea-box for gatherings on the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Place the red tea-box rightward of the cardboard coffee-box using the right arm",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Set the red tea-box to the right of the medium coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the cardboard coffee-box.",
+    "Put the medium tea-box for gatherings to the right of the medium coffee-box",
+    "Place the red tea-box with golden designs on the box with coffee graphics's right side.",
+    "Place the red tea-box with golden designs on the right of the medium coffee-box.",
+    "Grab the medium tea-box for gatherings and place it right of the box with coffee graphics.",
+    "Set the red tea-box on the right of the medium coffee-box.",
+    "Put the red tea-box to the right of the medium coffee-box.",
+    "Place the red tea-box rightward of the cardboard coffee-box using the right arm",
+    "Put the red tea-box to the right of the medium coffee-box.",
+    "Set the medium tea-box for gatherings to the right of the box with coffee graphics.",
+    "Put the medium tea-box for gatherings to the right of the box with coffee graphics.",
+    "Put the red tea-box to the right of the cardboard coffee-box",
+    "Place the red tea-box with golden designs on the medium coffee-box's right side.",
+    "Place the medium tea-box for gatherings on the right of the medium coffee-box.",
+    "Grab the red tea-box with golden designs and place it right of the cardboard coffee-box.",
+    "Set the medium tea-box for gatherings on the right of the medium coffee-box."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode464.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the palm-sized playingcards carton to the right of the rectangular yellow tea box",
+    "Bring the playingcards pack with blue top to the right position of the compact golden tea box.",
+    "Direct the left arm to place the blue and white playingcards packaging right of the golden tea box.",
+    "Move the small playingcards container using the left arm to the small cuboid tea box's right position.",
+    "Use the left arm to position the playingcards pack with blue top to the compact golden tea box's right.",
+    "Grab the blue carton for playingcards with the left arm and set right of the tea box with printed leaves.",
+    "Use the left arm to set the card box with golden designs right of the small cuboid tea box.",
+    "Position the small playingcards container at the right side of the square-shaped tea box",
+    "With the left arm, move the playingcards box with white symbols to the tea box with floral designs's right.",
+    "Set the playingcards pack with blue top using the left arm at the golden tea box's right",
+    "Place the small playingcards container on the right of the golden tea box.",
+    "Ensure the rectangular blue playingcards case is placed on the right of the small cuboid tea box.",
+    "Stick the blue and white playingcards packaging on the cuboid tea box's right side",
+    "Set the smooth playingcards holder right next to the light yellow tea box's right side.",
+    "Use the left arm to set the card box with golden designs right of the small cuboid tea box.",
+    "Position the palm-sized playingcards carton to the right of the golden tea box.",
+    "Move the box of playingcards to the yellow tea box with smooth surface's right position.",
+    "Grasp the playingcards box with white symbols with the left arm and move it to the golden tea box's right.",
+    "Ensure the palm-sized playingcards carton is on the right of the square-shaped tea box.",
+    "Place the blue carton for playingcards directly on the rectangular yellow tea box's right.",
+    "Set the blue pack holding playingcards neatly on the right side of the tea box with printed leaves.",
+    "Set the box of playingcards carefully on the yellow box for tea's right side.",
+    "Using the left arm, position the small playingcards container to the right of the light yellow tea box.",
+    "Move the blue playingcards box to the right beside the tea box with floral designs.",
+    "Move the blue and white playingcards packaging and place it to the yellow box for tea's right.",
+    "Make sure the palm-sized playingcards carton is placed right of the golden tea box.",
+    "Set the blue carton for playingcards on the yellow box for tea's right side",
+    "Grab the palm-sized playingcards carton with the left arm and place it right of the rectangular yellow tea box.",
+    "Put the blue carton for playingcards exactly to the right of the yellow box for tea.",
+    "Place the blue pack holding playingcards precisely to the right of the golden tea box.",
+    "Using the left arm, position the blue and white playingcards packaging to the right of the golden tea box.",
+    "Set the box of playingcards properly on the right of the light yellow tea box.",
+    "Position the playingcards pack with blue top to the right of the light yellow tea box.",
+    "Move the small playingcards container to the square-shaped tea box's right using the left arm",
+    "Move the playingcards box with white symbols and place it carefully to the rectangular yellow tea box's right.",
+    "Set the blue and white playingcards packaging down on the small cuboid tea box's right side.",
+    "Grab the smooth playingcards holder using the left arm and place it right of the tea box with printed leaves.",
+    "Grab the blue playingcards box using the left arm, then move it to the square-shaped tea box's right.",
+    "Put the playingcards box with white symbols at the right of the small cuboid tea box",
+    "Place the blue pack holding playingcards using the left arm at the rectangular yellow tea box's right",
+    "Move the rectangular blue playingcards case right of the compact golden tea box with the left arm",
+    "Grab the small playingcards container using the left arm and set it to the cuboid tea box's right.",
+    "Use the left arm to place the blue and white playingcards packaging right of the small cuboid tea box.",
+    "Use the left arm to place the smooth playingcards holder right of the square-shaped tea box.",
+    "Set the blue and white playingcards packaging on the right side of the small cuboid tea box.",
+    "Position the blue and white playingcards packaging to the cuboid tea box's right using the left arm",
+    "Take the small playingcards container with the left arm and position it right of the yellow box for tea.",
+    "Position the playingcards pack with blue top directly to the right of the compact golden tea box.",
+    "Move the rectangular blue playingcards case and set it to the tea box with floral designs's right.",
+    "Put the palm-sized playingcards carton using the left arm on the right of the light yellow tea box.",
+    "Shift the small playingcards container to the right of the square-shaped tea box",
+    "Bring the blue playingcards box to the right position of the rectangular yellow tea box.",
+    "Direct the left arm to place the playingcards pack with blue top right of the square-shaped tea box.",
+    "Move the playingcards pack with blue top using the left arm to the tea box with floral designs's right position.",
+    "Use the left arm to position the playingcards box with white symbols to the tea box with printed leaves's right.",
+    "Grab the palm-sized playingcards carton with the left arm and set right of the small cuboid tea box.",
+    "Use the left arm to set the palm-sized playingcards carton right of the small cuboid tea box.",
+    "Position the card box with golden designs at the right side of the compact golden tea box",
+    "With the left arm, move the smooth playingcards holder to the small cuboid tea box's right.",
+    "Set the rectangular blue playingcards case using the left arm at the golden tea box's right",
+    "Place the blue playingcards box on the right of the tea box with printed leaves.",
+    "Ensure the palm-sized playingcards carton is placed on the right of the yellow tea box with smooth surface.",
+    "Stick the blue pack holding playingcards on the yellow tea box with smooth surface's right side",
+    "Set the card box with golden designs right next to the tea box with floral designs's right side.",
+    "Use the left arm to set the box of playingcards right of the rectangular yellow tea box.",
+    "Position the card box with golden designs to the right of the golden tea box.",
+    "Move the blue pack holding playingcards to the yellow tea box with smooth surface's right position.",
+    "Grasp the smooth playingcards holder with the left arm and move it to the compact golden tea box's right.",
+    "Ensure the blue carton for playingcards is on the right of the cuboid tea box.",
+    "Place the blue carton for playingcards directly on the small cuboid tea box's right.",
+    "Set the playingcards pack with blue top neatly on the right side of the golden tea box.",
+    "Set the box of playingcards carefully on the small cuboid tea box's right side.",
+    "Using the left arm, position the blue pack holding playingcards to the right of the tea box with floral designs.",
+    "Move the rectangular blue playingcards case to the right beside the yellow tea box with smooth surface.",
+    "Move the card box with golden designs and place it to the golden tea box's right.",
+    "Make sure the blue playingcards box is placed right of the rectangular yellow tea box.",
+    "Set the blue playingcards box on the cuboid tea box's right side",
+    "Grab the rectangular blue playingcards case with the left arm and place it right of the golden tea box.",
+    "Put the rectangular blue playingcards case exactly to the right of the rectangular yellow tea box.",
+    "Place the rectangular blue playingcards case precisely to the right of the tea box with floral designs.",
+    "Using the left arm, position the blue carton for playingcards to the right of the golden tea box.",
+    "Set the playingcards box with white symbols properly on the right of the light yellow tea box.",
+    "Position the small playingcards container to the right of the golden tea box.",
+    "Move the rectangular blue playingcards case to the compact golden tea box's right using the left arm",
+    "Move the rectangular blue playingcards case and place it carefully to the small cuboid tea box's right.",
+    "Set the playingcards box with white symbols down on the light yellow tea box's right side.",
+    "Grab the smooth playingcards holder using the left arm and place it right of the rectangular yellow tea box.",
+    "Grab the playingcards box with white symbols using the left arm, then move it to the compact golden tea box's right.",
+    "Put the smooth playingcards holder at the right of the tea box with printed leaves",
+    "Place the blue pack holding playingcards using the left arm at the yellow tea box with smooth surface's right",
+    "Move the playingcards pack with blue top right of the yellow box for tea with the left arm",
+    "Grab the playingcards box with white symbols using the left arm and set it to the square-shaped tea box's right.",
+    "Use the left arm to place the blue pack holding playingcards right of the square-shaped tea box.",
+    "Use the left arm to place the box of playingcards right of the square-shaped tea box.",
+    "Set the box of playingcards on the right side of the square-shaped tea box.",
+    "Position the playingcards box with white symbols to the square-shaped tea box's right using the left arm",
+    "Take the blue playingcards box with the left arm and position it right of the small cuboid tea box.",
+    "Position the card box with golden designs directly to the right of the tea box with floral designs.",
+    "Move the rectangular blue playingcards case and set it to the yellow tea box with smooth surface's right.",
+    "Put the playingcards box with white symbols using the left arm on the right of the rectangular yellow tea box."
+  ],
+  "unseen": [
+    "Place the rectangular playingcards pack on the decorative golden tea box's right side.",
+    "Put the small packet of playingcards to the right of the decorative golden tea box.",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box.",
+    "Set the small packet of playingcards to the right of the small tea box.",
+    "Place the small packet of playingcards on the right of the small tea box.",
+    "Set the rectangular playingcards pack on the right of the tea box with green leaves.",
+    "Grab the rectangular playingcards pack and place it right of the small tea box.",
+    "Place the small packet of playingcards rightward of the decorative golden tea box using the left arm",
+    "Put the rectangular playingcards case with patterns to the right of the small tea box.",
+    "Place the rectangular playingcards pack on the tea box with green leaves's right side.",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Put the rectangular playingcards case with patterns to the right of the decorative golden tea box",
+    "Put the rectangular playingcards case with patterns to the right of the small tea box.",
+    "Set the small packet of playingcards to the right of the tea box with green leaves.",
+    "Place the small packet of playingcards on the right of the small tea box.",
+    "Set the rectangular playingcards pack on the right of the decorative golden tea box.",
+    "Grab the rectangular playingcards pack and place it right of the tea box with green leaves.",
+    "Place the small packet of playingcards rightward of the tea box with green leaves using the left arm",
+    "Put the rectangular playingcards pack to the right of the tea box with green leaves.",
+    "Place the small packet of playingcards on the small tea box's right side.",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Set the rectangular playingcards pack to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards case with patterns on the right of the decorative golden tea box.",
+    "Set the rectangular playingcards case with patterns on the right of the small tea box.",
+    "Grab the small packet of playingcards and place it right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack rightward of the small tea box using the left arm",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards case with patterns on the decorative golden tea box's right side.",
+    "Put the rectangular playingcards pack to the right of the small tea box.",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves",
+    "Put the rectangular playingcards pack to the right of the small tea box.",
+    "Set the small packet of playingcards to the right of the decorative golden tea box.",
+    "Place the rectangular playingcards pack on the right of the decorative golden tea box.",
+    "Set the small packet of playingcards on the right of the decorative golden tea box.",
+    "Grab the small packet of playingcards and place it right of the small tea box.",
+    "Place the rectangular playingcards case with patterns rightward of the tea box with green leaves using the left arm",
+    "Put the small packet of playingcards to the right of the decorative golden tea box.",
+    "Place the rectangular playingcards case with patterns on the tea box with green leaves's right side.",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Put the small packet of playingcards to the right of the tea box with green leaves",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Set the rectangular playingcards case with patterns to the right of the small tea box.",
+    "Place the small packet of playingcards on the right of the tea box with green leaves.",
+    "Set the rectangular playingcards case with patterns on the right of the small tea box.",
+    "Grab the rectangular playingcards case with patterns and place it right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack rightward of the decorative golden tea box using the left arm",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards case with patterns on the tea box with green leaves's right side.",
+    "Put the rectangular playingcards pack to the right of the small tea box.",
+    "Put the rectangular playingcards pack to the right of the small tea box",
+    "Put the rectangular playingcards case with patterns to the right of the decorative golden tea box.",
+    "Set the small packet of playingcards to the right of the decorative golden tea box.",
+    "Place the rectangular playingcards pack on the right of the tea box with green leaves.",
+    "Set the small packet of playingcards on the right of the tea box with green leaves.",
+    "Grab the small packet of playingcards and place it right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack rightward of the tea box with green leaves using the left arm",
+    "Put the rectangular playingcards pack to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards case with patterns on the decorative golden tea box's right side.",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Put the rectangular playingcards case with patterns to the right of the small tea box",
+    "Put the small packet of playingcards to the right of the tea box with green leaves.",
+    "Set the rectangular playingcards pack to the right of the small tea box.",
+    "Place the rectangular playingcards pack on the right of the tea box with green leaves.",
+    "Set the rectangular playingcards case with patterns on the right of the tea box with green leaves.",
+    "Grab the rectangular playingcards pack and place it right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack rightward of the small tea box using the left arm",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack on the small tea box's right side.",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box",
+    "Put the rectangular playingcards case with patterns to the right of the decorative golden tea box.",
+    "Set the small packet of playingcards to the right of the small tea box.",
+    "Place the rectangular playingcards case with patterns on the right of the decorative golden tea box.",
+    "Set the rectangular playingcards pack on the right of the decorative golden tea box.",
+    "Grab the small packet of playingcards and place it right of the small tea box.",
+    "Place the rectangular playingcards case with patterns rightward of the tea box with green leaves using the left arm",
+    "Put the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Place the small packet of playingcards on the tea box with green leaves's right side.",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box.",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box",
+    "Put the rectangular playingcards pack to the right of the decorative golden tea box.",
+    "Set the rectangular playingcards case with patterns to the right of the tea box with green leaves.",
+    "Place the rectangular playingcards pack on the right of the small tea box.",
+    "Set the small packet of playingcards on the right of the small tea box.",
+    "Grab the small packet of playingcards and place it right of the decorative golden tea box.",
+    "Place the small packet of playingcards rightward of the decorative golden tea box using the left arm",
+    "Put the small packet of playingcards to the right of the small tea box.",
+    "Place the rectangular playingcards pack on the small tea box's right side.",
+    "Put the small packet of playingcards to the right of the decorative golden tea box.",
+    "Put the rectangular playingcards pack to the right of the small tea box",
+    "Put the rectangular playingcards pack to the right of the tea box with green leaves.",
+    "Set the small packet of playingcards to the right of the small tea box.",
+    "Place the rectangular playingcards pack on the right of the tea box with green leaves.",
+    "Set the rectangular playingcards case with patterns on the right of the small tea box.",
+    "Grab the rectangular playingcards case with patterns and place it right of the decorative golden tea box.",
+    "Place the rectangular playingcards case with patterns rightward of the decorative golden tea box using the left arm",
+    "Put the rectangular playingcards pack to the right of the tea box with green leaves."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode499.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the soap with tan specks at the right side of the coffee-box with orange logo",
+    "Grab the solid brown cleaning soap using the right arm and place it right of the orange and brown coffee-box.",
+    "Using the right arm, position the solid brown cleaning soap to the right of the smooth coffee-box.",
+    "Place the cleaning soap with spotted texture using the right arm at the packaging coffee-box's right",
+    "Ensure the cleaning soap with spotted texture is on the right of the packaging coffee-box.",
+    "Grasp the soap with tan specks with the right arm and move it to the coffee-box with slanted side's right.",
+    "Use the right arm to place the smooth soap with grainy spots right of the orange and brown coffee-box.",
+    "Set the dark brown hand-sized soap neatly on the right side of the coffee-box with slanted side.",
+    "With the right arm, move the cleaning soap with spotted texture to the cardboard coffee-box's right.",
+    "Bring the soap with uneven tan grains to the right position of the orange and brown coffee-box.",
+    "Use the right arm to place the rounded bar of dark soap right of the orange and brown coffee-box.",
+    "Set the dark brown hand-sized soap down on the coffee-box with angled top's right side.",
+    "Set the dark brown hand-sized soap carefully on the medium coffee-box's right side.",
+    "Using the right arm, position the rectangular soap with rounded edges to the right of the coffee-box with angled top.",
+    "Set the soap bar with curved edges properly on the right of the light brown coffee-box.",
+    "Set the dark brown hand-sized soap on the right side of the packaging coffee-box.",
+    "Move the rounded bar of dark soap right of the coffee-box with angled top with the right arm",
+    "Move the soap with uneven tan grains and place it to the orange and brown coffee-box's right.",
+    "Place the grainy brown soap directly on the cardboard coffee-box's right.",
+    "Set the smooth soap with grainy spots using the right arm at the medium coffee-box's right",
+    "Grab the solid brown cleaning soap using the right arm and set it to the orange and brown coffee-box's right.",
+    "Place the grainy brown soap on the right of the coffee-box with slanted side.",
+    "Move the grainy brown soap to the right beside the angled rectangular light brown coffee-box.",
+    "Direct the right arm to place the rounded bar of dark soap right of the light brown box for coffee.",
+    "Set the solid brown cleaning soap right next to the angled rectangular light brown coffee-box's right side.",
+    "Put the dark soap bar using the right arm on the right of the smooth coffee-box.",
+    "Place the grainy brown soap precisely to the right of the light brown box for coffee.",
+    "Put the cleaning soap with spotted texture exactly to the right of the medium coffee-box.",
+    "Make sure the dark brown hand-sized soap is placed right of the light brown coffee-box.",
+    "Use the right arm to set the solid brown cleaning soap right of the coffee-box with angled top.",
+    "Position the soap with uneven tan grains to the right of the light brown coffee-box.",
+    "Put the cleaning soap with spotted texture at the right of the coffee-box with orange logo",
+    "Move the dark brown hand-sized soap and set it to the packaging coffee-box's right.",
+    "Grab the soap bar with curved edges with the right arm and set right of the coffee-box with angled top.",
+    "Ensure the solid brown cleaning soap is placed on the right of the orange and brown coffee-box.",
+    "Stick the dark soap bar on the orange and brown coffee-box's right side",
+    "Shift the rounded bar of dark soap to the right of the rectangular coffee-box",
+    "Use the right arm to position the soap with tan specks to the rectangular coffee-box's right.",
+    "Take the grainy brown soap with the right arm and position it right of the orange and brown coffee-box.",
+    "Position the dark soap bar directly to the right of the cardboard coffee-box.",
+    "Move the rectangular soap with rounded edges and place it carefully to the coffee-box with orange logo's right.",
+    "Grab the cleaning soap with spotted texture with the right arm and place it right of the rectangular coffee-box.",
+    "Move the grainy brown soap using the right arm to the rectangular coffee-box's right position.",
+    "Use the right arm to set the dark soap bar right of the packaging coffee-box.",
+    "Grab the rectangular soap with rounded edges using the right arm, then move it to the smooth coffee-box's right.",
+    "Move the soap with uneven tan grains to the orange and brown coffee-box's right using the right arm",
+    "Position the rounded bar of dark soap to the right of the orange and brown coffee-box.",
+    "Set the rectangular soap with rounded edges on the smooth coffee-box's right side",
+    "Move the soap with uneven tan grains to the coffee-box with slanted side's right position.",
+    "Position the small dark cleaning soap to the coffee-box with orange logo's right using the right arm",
+    "Position the small dark cleaning soap at the right side of the orange and brown coffee-box",
+    "Grab the smooth soap with grainy spots using the right arm and place it right of the coffee-box with slanted side.",
+    "Using the right arm, position the cleaning soap with spotted texture to the right of the smooth coffee-box.",
+    "Place the rounded bar of dark soap using the right arm at the light brown box for coffee's right",
+    "Ensure the rounded bar of dark soap is on the right of the coffee-box with slanted side.",
+    "Grasp the dark brown hand-sized soap with the right arm and move it to the smooth coffee-box's right.",
+    "Use the right arm to place the grainy brown soap right of the coffee-box with orange logo.",
+    "Set the dark soap bar neatly on the right side of the packaging coffee-box.",
+    "With the right arm, move the cleaning soap with spotted texture to the packaging coffee-box's right.",
+    "Bring the soap with tan specks to the right position of the light brown coffee-box.",
+    "Use the right arm to place the cleaning soap with spotted texture right of the light brown coffee-box.",
+    "Set the rectangular soap with rounded edges down on the coffee-box with slanted side's right side.",
+    "Set the smooth soap with grainy spots carefully on the coffee-box with orange logo's right side.",
+    "Using the right arm, position the grainy brown soap to the right of the coffee-box with orange logo.",
+    "Set the small dark cleaning soap properly on the right of the coffee-box with slanted side.",
+    "Set the dark brown hand-sized soap on the right side of the light brown box for coffee.",
+    "Move the small dark cleaning soap right of the light brown box for coffee with the right arm",
+    "Move the small dark cleaning soap and place it to the orange and brown coffee-box's right.",
+    "Place the soap bar with curved edges directly on the cardboard coffee-box's right.",
+    "Set the rectangular soap with rounded edges using the right arm at the rectangular coffee-box's right",
+    "Grab the dark brown hand-sized soap using the right arm and set it to the cardboard coffee-box's right.",
+    "Place the dark soap bar on the right of the packaging coffee-box.",
+    "Move the soap bar with curved edges to the right beside the smooth coffee-box.",
+    "Direct the right arm to place the soap with uneven tan grains right of the medium coffee-box.",
+    "Set the solid brown cleaning soap right next to the light brown box for coffee's right side.",
+    "Put the smooth soap with grainy spots using the right arm on the right of the angled rectangular light brown coffee-box.",
+    "Place the solid brown cleaning soap precisely to the right of the coffee-box with slanted side.",
+    "Put the soap with tan specks exactly to the right of the orange and brown coffee-box.",
+    "Make sure the solid brown cleaning soap is placed right of the angled rectangular light brown coffee-box.",
+    "Use the right arm to set the smooth soap with grainy spots right of the coffee-box with angled top.",
+    "Position the grainy brown soap to the right of the light brown coffee-box.",
+    "Put the dark soap bar at the right of the angled rectangular light brown coffee-box",
+    "Move the soap bar with curved edges and set it to the coffee-box with slanted side's right.",
+    "Grab the soap with uneven tan grains with the right arm and set right of the packaging coffee-box.",
+    "Ensure the dark soap bar is placed on the right of the light brown box for coffee.",
+    "Stick the grainy brown soap on the light brown coffee-box's right side",
+    "Shift the soap with uneven tan grains to the right of the light brown coffee-box",
+    "Use the right arm to position the soap with tan specks to the rectangular coffee-box's right.",
+    "Take the solid brown cleaning soap with the right arm and position it right of the coffee-box with orange logo.",
+    "Position the solid brown cleaning soap directly to the right of the light brown coffee-box.",
+    "Move the small dark cleaning soap and place it carefully to the light brown coffee-box's right.",
+    "Grab the dark brown hand-sized soap with the right arm and place it right of the rectangular coffee-box.",
+    "Move the soap with tan specks using the right arm to the orange and brown coffee-box's right position.",
+    "Use the right arm to set the smooth soap with grainy spots right of the packaging coffee-box.",
+    "Grab the solid brown cleaning soap using the right arm, then move it to the coffee-box with angled top's right.",
+    "Move the solid brown cleaning soap to the coffee-box with angled top's right using the right arm",
+    "Position the soap with tan specks to the right of the coffee-box with orange logo.",
+    "Set the soap with tan specks on the rectangular coffee-box's right side",
+    "Move the soap with tan specks to the angled rectangular light brown coffee-box's right position.",
+    "Position the soap with uneven tan grains to the rectangular coffee-box's right using the right arm"
+  ],
+  "unseen": [
+    "Grab the brown soap and place it right of the coffee-box with mug image.",
+    "Set the skincare soap bar to the right of the coffee-box with mug image.",
+    "Place the skincare soap bar on the coffee-box with mug image's right side.",
+    "Set the dark bar soap on the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the right of the coffee-box rectangular with smooth texture.",
+    "Place the brown soap rightward of the coffee-box rectangular with smooth texture using the right arm",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the dark bar soap to the right of the box with coffee mug design",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the brown soap to the right of the box with coffee mug design.",
+    "Grab the dark bar soap and place it right of the coffee-box rectangular with smooth texture.",
+    "Set the skincare soap bar to the right of the coffee-box rectangular with smooth texture.",
+    "Place the brown soap on the box with coffee mug design's right side.",
+    "Set the brown soap on the right of the coffee-box rectangular with smooth texture.",
+    "Place the skincare soap bar on the right of the box with coffee mug design.",
+    "Place the skincare soap bar rightward of the box with coffee mug design using the right arm",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the skincare soap bar to the right of the coffee-box with mug image",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the brown soap to the right of the box with coffee mug design.",
+    "Grab the dark bar soap and place it right of the coffee-box rectangular with smooth texture.",
+    "Set the brown soap to the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the coffee-box with mug image's right side.",
+    "Set the skincare soap bar on the right of the coffee-box with mug image.",
+    "Place the brown soap on the right of the box with coffee mug design.",
+    "Place the dark bar soap rightward of the box with coffee mug design using the right arm",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the dark bar soap to the right of the coffee-box with mug image",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the brown soap to the right of the box with coffee mug design.",
+    "Grab the skincare soap bar and place it right of the coffee-box with mug image.",
+    "Set the brown soap to the right of the coffee-box with mug image.",
+    "Place the skincare soap bar on the coffee-box with mug image's right side.",
+    "Set the dark bar soap on the right of the coffee-box with mug image.",
+    "Place the dark bar soap on the right of the coffee-box with mug image.",
+    "Place the skincare soap bar rightward of the coffee-box rectangular with smooth texture using the right arm",
+    "Put the skincare soap bar to the right of the coffee-box rectangular with smooth texture.",
+    "Put the skincare soap bar to the right of the coffee-box with mug image",
+    "Put the dark bar soap to the right of the box with coffee mug design.",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Grab the dark bar soap and place it right of the box with coffee mug design.",
+    "Set the brown soap to the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the coffee-box rectangular with smooth texture's right side.",
+    "Set the dark bar soap on the right of the box with coffee mug design.",
+    "Place the brown soap on the right of the coffee-box rectangular with smooth texture.",
+    "Place the dark bar soap rightward of the coffee-box rectangular with smooth texture using the right arm",
+    "Put the dark bar soap to the right of the box with coffee mug design.",
+    "Put the skincare soap bar to the right of the box with coffee mug design",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the skincare soap bar to the right of the coffee-box rectangular with smooth texture.",
+    "Grab the dark bar soap and place it right of the coffee-box with mug image.",
+    "Set the dark bar soap to the right of the coffee-box with mug image.",
+    "Place the skincare soap bar on the coffee-box with mug image's right side.",
+    "Set the brown soap on the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the right of the box with coffee mug design.",
+    "Place the dark bar soap rightward of the coffee-box with mug image using the right arm",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the dark bar soap to the right of the coffee-box rectangular with smooth texture",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the skincare soap bar to the right of the coffee-box with mug image.",
+    "Grab the brown soap and place it right of the coffee-box with mug image.",
+    "Set the dark bar soap to the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the box with coffee mug design's right side.",
+    "Set the skincare soap bar on the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the right of the box with coffee mug design.",
+    "Place the skincare soap bar rightward of the coffee-box with mug image using the right arm",
+    "Put the dark bar soap to the right of the coffee-box with mug image.",
+    "Put the dark bar soap to the right of the coffee-box rectangular with smooth texture",
+    "Put the dark bar soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the brown soap to the right of the coffee-box with mug image.",
+    "Grab the skincare soap bar and place it right of the box with coffee mug design.",
+    "Set the skincare soap bar to the right of the coffee-box with mug image.",
+    "Place the skincare soap bar on the box with coffee mug design's right side.",
+    "Set the skincare soap bar on the right of the coffee-box with mug image.",
+    "Place the dark bar soap on the right of the coffee-box with mug image.",
+    "Place the skincare soap bar rightward of the coffee-box rectangular with smooth texture using the right arm",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the brown soap to the right of the box with coffee mug design",
+    "Put the dark bar soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Grab the brown soap and place it right of the box with coffee mug design.",
+    "Set the skincare soap bar to the right of the box with coffee mug design.",
+    "Place the skincare soap bar on the box with coffee mug design's right side.",
+    "Set the dark bar soap on the right of the coffee-box rectangular with smooth texture.",
+    "Place the dark bar soap on the right of the box with coffee mug design.",
+    "Place the dark bar soap rightward of the coffee-box with mug image using the right arm",
+    "Put the brown soap to the right of the coffee-box rectangular with smooth texture.",
+    "Put the brown soap to the right of the box with coffee mug design",
+    "Put the dark bar soap to the right of the box with coffee mug design.",
+    "Put the brown soap to the right of the box with coffee mug design.",
+    "Grab the skincare soap bar and place it right of the box with coffee mug design.",
+    "Set the dark bar soap to the right of the coffee-box rectangular with smooth texture.",
+    "Place the brown soap on the box with coffee mug design's right side.",
+    "Set the brown soap on the right of the box with coffee mug design.",
+    "Place the brown soap on the right of the coffee-box rectangular with smooth texture.",
+    "Place the skincare soap bar rightward of the coffee-box with mug image using the right arm",
+    "Put the skincare soap bar to the right of the box with coffee mug design.",
+    "Put the skincare soap bar to the right of the coffee-box with mug image",
+    "Put the dark bar soap to the right of the coffee-box with mug image.",
+    "Put the skincare soap bar to the right of the box with coffee mug design."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode7.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the tea box with printed leaves with the right arm and position it right of the multicolored puzzle cube.",
+    "Set the compact golden tea box neatly on the right side of the rubikscube cube shape.",
+    "Use the right arm to position the tea box with printed leaves to the rubikscube with rotating faces's right.",
+    "Set the square-shaped tea box properly on the right of the rubikscube colorful and compact.",
+    "Move the square-shaped tea box to the right beside the rubikscube cube shape.",
+    "Use the right arm to place the compact golden tea box right of the rubikscube.",
+    "Set the golden tea box right next to the rubikscube plastic and smooth's right side.",
+    "Move the tea box with floral designs and place it to the rubikscube with green center tiles's right.",
+    "Grasp the yellow box for tea with the right arm and move it to the multicolored puzzle cube's right.",
+    "Position the yellow tea box with smooth surface at the right side of the rubikscube cube shape",
+    "Move the tea box with printed leaves to the rubikscube with orange sides's right using the right arm",
+    "Grab the yellow tea box with smooth surface using the right arm and place it right of the yellow-blue rubikscube.",
+    "Place the square-shaped tea box using the right arm at the rubikscube with green center tiles's right",
+    "Move the yellow box for tea and set it to the rubikscube with orange sides's right.",
+    "Move the golden tea box to the yellow-blue rubikscube's right position.",
+    "Use the right arm to place the tea box with printed leaves right of the rubikscube colorful and compact.",
+    "Set the cuboid tea box on the right side of the rubikscube with orange sides.",
+    "Shift the small cuboid tea box to the right of the rubikscube colorful and compact",
+    "Move the yellow tea box with smooth surface using the right arm to the rubikscube with orange sides's right position.",
+    "Position the cuboid tea box to the right of the rubikscube with orange sides.",
+    "Using the right arm, position the light yellow tea box to the right of the rubikscube plastic and smooth.",
+    "Using the right arm, position the yellow tea box with smooth surface to the right of the rubikscube with rotating faces.",
+    "Grab the rectangular yellow tea box with the right arm and set right of the rubikscube cube shape.",
+    "Direct the right arm to place the rectangular yellow tea box right of the multicolored puzzle cube.",
+    "Position the small cuboid tea box to the rubikscube cube shape's right using the right arm",
+    "Set the square-shaped tea box using the right arm at the rubikscube with smooth plastic tiles's right",
+    "Grab the light yellow tea box using the right arm, then move it to the rubikscube cube shape's right.",
+    "Ensure the light yellow tea box is on the right of the colorful rubikscube.",
+    "Place the square-shaped tea box precisely to the right of the rubikscube colorful and compact.",
+    "Put the yellow tea box with smooth surface at the right of the small square rubikscube",
+    "Grab the compact golden tea box with the right arm and place it right of the rubikscube colorful and compact.",
+    "Position the yellow tea box with smooth surface to the right of the small square rubikscube.",
+    "Move the cuboid tea box right of the rubikscube with rotating faces with the right arm",
+    "Grab the tea box with printed leaves using the right arm and set it to the rubikscube plastic and smooth's right.",
+    "With the right arm, move the rectangular yellow tea box to the rubikscube with rotating faces's right.",
+    "Place the rectangular yellow tea box on the right of the rubikscube.",
+    "Set the tea box with printed leaves down on the rubikscube with smooth plastic tiles's right side.",
+    "Move the yellow tea box and place it carefully to the multicolored puzzle cube's right.",
+    "Make sure the tea box with floral designs is placed right of the rubikscube.",
+    "Ensure the yellow box for tea is placed on the right of the yellow-blue rubikscube.",
+    "Place the rectangular yellow tea box directly on the rubikscube colorful and compact's right.",
+    "Set the small cuboid tea box carefully on the rubikscube with rotating faces's right side.",
+    "Set the compact golden tea box on the colorful rubikscube's right side",
+    "Put the golden tea box using the right arm on the right of the multicolored puzzle cube.",
+    "Stick the tea box with floral designs on the rubikscube cube shape's right side",
+    "Bring the rectangular yellow tea box to the right position of the rubikscube with green center tiles.",
+    "Use the right arm to set the golden tea box right of the rubikscube with smooth plastic tiles.",
+    "Use the right arm to set the cuboid tea box right of the rubikscube plastic and smooth.",
+    "Put the golden tea box exactly to the right of the colorful rubikscube.",
+    "Position the tea box with printed leaves directly to the right of the rubikscube.",
+    "Take the rectangular yellow tea box with the right arm and position it right of the rubikscube with green center tiles.",
+    "Set the small cuboid tea box neatly on the right side of the rubikscube plastic and smooth.",
+    "Use the right arm to position the yellow tea box with smooth surface to the rubikscube with smooth plastic tiles's right.",
+    "Set the rectangular yellow tea box properly on the right of the rubikscube with smooth plastic tiles.",
+    "Move the yellow tea box with smooth surface to the right beside the rubikscube with smooth plastic tiles.",
+    "Use the right arm to place the golden tea box right of the rubikscube with orange sides.",
+    "Set the square-shaped tea box right next to the rubikscube plastic and smooth's right side.",
+    "Move the rectangular yellow tea box and place it to the rubikscube with green center tiles's right.",
+    "Grasp the tea box with floral designs with the right arm and move it to the colorful rubikscube's right.",
+    "Position the cuboid tea box at the right side of the rubikscube plastic and smooth",
+    "Move the light yellow tea box to the rubikscube with smooth plastic tiles's right using the right arm",
+    "Grab the tea box with floral designs using the right arm and place it right of the rubikscube with smooth plastic tiles.",
+    "Place the yellow box for tea using the right arm at the rubikscube with smooth plastic tiles's right",
+    "Move the rectangular yellow tea box and set it to the rubikscube's right.",
+    "Move the tea box with floral designs to the colorful rubikscube's right position.",
+    "Use the right arm to place the yellow tea box with smooth surface right of the rubikscube with rotating faces.",
+    "Set the golden tea box on the right side of the colorful rubikscube.",
+    "Shift the yellow box for tea to the right of the small square rubikscube",
+    "Move the rectangular yellow tea box using the right arm to the colorful rubikscube's right position.",
+    "Position the yellow tea box with smooth surface to the right of the yellow-blue rubikscube.",
+    "Using the right arm, position the square-shaped tea box to the right of the rubikscube with smooth plastic tiles.",
+    "Using the right arm, position the cuboid tea box to the right of the rubikscube with orange sides.",
+    "Grab the yellow tea box with smooth surface with the right arm and set right of the rubikscube with orange sides.",
+    "Direct the right arm to place the small cuboid tea box right of the colorful rubikscube.",
+    "Position the cuboid tea box to the yellow-blue rubikscube's right using the right arm",
+    "Set the square-shaped tea box using the right arm at the colorful rubikscube's right",
+    "Grab the yellow box for tea using the right arm, then move it to the rubikscube with green center tiles's right.",
+    "Ensure the yellow tea box is on the right of the rubikscube.",
+    "Place the light yellow tea box precisely to the right of the rubikscube plastic and smooth.",
+    "Put the tea box with floral designs at the right of the rubikscube",
+    "Grab the compact golden tea box with the right arm and place it right of the rubikscube colorful and compact.",
+    "Position the tea box with floral designs to the right of the rubikscube with orange sides.",
+    "Move the yellow tea box with smooth surface right of the small square rubikscube with the right arm",
+    "Grab the rectangular yellow tea box using the right arm and set it to the rubikscube colorful and compact's right.",
+    "With the right arm, move the yellow tea box to the rubikscube with green center tiles's right.",
+    "Place the golden tea box on the right of the rubikscube cube shape.",
+    "Set the compact golden tea box down on the small square rubikscube's right side.",
+    "Move the yellow box for tea and place it carefully to the rubikscube's right.",
+    "Make sure the yellow tea box is placed right of the rubikscube with green center tiles.",
+    "Ensure the yellow tea box with smooth surface is placed on the right of the rubikscube with orange sides.",
+    "Place the yellow box for tea directly on the rubikscube with smooth plastic tiles's right.",
+    "Set the square-shaped tea box carefully on the multicolored puzzle cube's right side.",
+    "Set the small cuboid tea box on the rubikscube with orange sides's right side",
+    "Put the tea box with printed leaves using the right arm on the right of the small square rubikscube.",
+    "Stick the tea box with floral designs on the colorful rubikscube's right side",
+    "Bring the tea box with floral designs to the right position of the rubikscube cube shape.",
+    "Use the right arm to set the tea box with printed leaves right of the multicolored puzzle cube.",
+    "Use the right arm to set the yellow tea box right of the rubikscube plastic and smooth.",
+    "Put the rectangular yellow tea box exactly to the right of the small square rubikscube.",
+    "Position the tea box with printed leaves directly to the right of the rubikscube plastic and smooth."
+  ],
+  "unseen": [
+    "Place the tea box with green leaves on the rubikscube with yellow top's right side.",
+    "Place the small tea box rightward of the rubikscube with yellow top using the right arm",
+    "Put the tea box with green leaves to the right of the handheld rubikscube.",
+    "Set the tea box with green leaves on the right of the rubikscube with yellow top.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving",
+    "Place the decorative golden tea box on the right of the rubikscube with yellow top.",
+    "Grab the decorative golden tea box and place it right of the rubikscube with yellow top.",
+    "Put the tea box with green leaves to the right of the handheld rubikscube.",
+    "Set the small tea box to the right of the handheld rubikscube.",
+    "Put the tea box with green leaves to the right of the rubikscube with yellow top.",
+    "Place the decorative golden tea box on the rubikscube with yellow top's right side.",
+    "Place the small tea box rightward of the rubikscube for puzzle solving using the right arm",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top.",
+    "Set the decorative golden tea box on the right of the handheld rubikscube.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving",
+    "Place the tea box with green leaves on the right of the rubikscube for puzzle solving.",
+    "Grab the tea box with green leaves and place it right of the handheld rubikscube.",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Set the tea box with green leaves to the right of the rubikscube with yellow top.",
+    "Put the tea box with green leaves to the right of the rubikscube for puzzle solving.",
+    "Place the decorative golden tea box on the handheld rubikscube's right side.",
+    "Place the decorative golden tea box rightward of the rubikscube for puzzle solving using the right arm",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top.",
+    "Set the small tea box on the right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the handheld rubikscube",
+    "Place the decorative golden tea box on the right of the rubikscube with yellow top.",
+    "Grab the small tea box and place it right of the rubikscube with yellow top.",
+    "Put the small tea box to the right of the handheld rubikscube.",
+    "Set the decorative golden tea box to the right of the handheld rubikscube.",
+    "Put the small tea box to the right of the rubikscube with yellow top.",
+    "Place the tea box with green leaves on the rubikscube for puzzle solving's right side.",
+    "Place the small tea box rightward of the rubikscube for puzzle solving using the right arm",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top.",
+    "Set the tea box with green leaves on the right of the handheld rubikscube.",
+    "Put the tea box with green leaves to the right of the handheld rubikscube",
+    "Place the tea box with green leaves on the right of the rubikscube for puzzle solving.",
+    "Grab the tea box with green leaves and place it right of the rubikscube for puzzle solving.",
+    "Put the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Set the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Place the small tea box on the rubikscube for puzzle solving's right side.",
+    "Place the decorative golden tea box rightward of the rubikscube for puzzle solving using the right arm",
+    "Put the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Set the decorative golden tea box on the right of the handheld rubikscube.",
+    "Put the tea box with green leaves to the right of the handheld rubikscube",
+    "Place the small tea box on the right of the handheld rubikscube.",
+    "Grab the tea box with green leaves and place it right of the rubikscube with yellow top.",
+    "Put the small tea box to the right of the rubikscube with yellow top.",
+    "Set the tea box with green leaves to the right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Place the small tea box on the rubikscube for puzzle solving's right side.",
+    "Place the small tea box rightward of the handheld rubikscube using the right arm",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Set the tea box with green leaves on the right of the rubikscube with yellow top.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving",
+    "Place the tea box with green leaves on the right of the handheld rubikscube.",
+    "Grab the tea box with green leaves and place it right of the rubikscube for puzzle solving.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving.",
+    "Set the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Put the tea box with green leaves to the right of the rubikscube with yellow top.",
+    "Place the small tea box on the rubikscube for puzzle solving's right side.",
+    "Place the decorative golden tea box rightward of the rubikscube for puzzle solving using the right arm",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Set the small tea box on the right of the handheld rubikscube.",
+    "Put the tea box with green leaves to the right of the rubikscube with yellow top",
+    "Place the small tea box on the right of the rubikscube for puzzle solving.",
+    "Grab the decorative golden tea box and place it right of the rubikscube for puzzle solving.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving.",
+    "Set the small tea box to the right of the rubikscube with yellow top.",
+    "Put the small tea box to the right of the handheld rubikscube.",
+    "Place the small tea box on the handheld rubikscube's right side.",
+    "Place the tea box with green leaves rightward of the handheld rubikscube using the right arm",
+    "Put the small tea box to the right of the handheld rubikscube.",
+    "Set the tea box with green leaves on the right of the handheld rubikscube.",
+    "Put the tea box with green leaves to the right of the rubikscube for puzzle solving",
+    "Place the tea box with green leaves on the right of the rubikscube with yellow top.",
+    "Grab the small tea box and place it right of the rubikscube for puzzle solving.",
+    "Put the small tea box to the right of the rubikscube for puzzle solving.",
+    "Set the tea box with green leaves to the right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Place the tea box with green leaves on the rubikscube with yellow top's right side.",
+    "Place the tea box with green leaves rightward of the handheld rubikscube using the right arm",
+    "Put the tea box with green leaves to the right of the handheld rubikscube.",
+    "Set the tea box with green leaves on the right of the handheld rubikscube.",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top",
+    "Place the tea box with green leaves on the right of the handheld rubikscube.",
+    "Grab the tea box with green leaves and place it right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the rubikscube for puzzle solving.",
+    "Set the decorative golden tea box to the right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the handheld rubikscube.",
+    "Place the small tea box on the rubikscube for puzzle solving's right side.",
+    "Place the decorative golden tea box rightward of the rubikscube with yellow top using the right arm",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top.",
+    "Set the small tea box on the right of the rubikscube with yellow top.",
+    "Put the decorative golden tea box to the right of the rubikscube for puzzle solving",
+    "Place the decorative golden tea box on the right of the rubikscube for puzzle solving.",
+    "Grab the small tea box and place it right of the rubikscube for puzzle solving.",
+    "Put the small tea box to the right of the handheld rubikscube.",
+    "Set the small tea box to the right of the handheld rubikscube.",
+    "Put the decorative golden tea box to the right of the rubikscube with yellow top."
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode79.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the tea box on the right of the blue bell.",
+    "Move the small tea box with gold patterns to the right beside the blue dome-shaped bell.",
+    "Put the cube tea box with gold designs exactly to the right of the blue bell.",
+    "Grab the small cube-shaped tea container using the right arm and set it to the flat-topped bell's right.",
+    "Using the right arm, position the light beige box with embossed gold leaf to the right of the blue bell.",
+    "Bring the light beige box with embossed gold leaf to the right position of the blue dome-shaped bell.",
+    "Use the right arm to set the beige cube with golden leaf patterns right of the bell with protruding knob.",
+    "Move the smooth cube with golden leaf designs right of the round bell with the right arm",
+    "Set the cube tea box with gold designs down on the brown-bottomed bell's right side.",
+    "Take the small cube-shaped tea container with the right arm and position it right of the bell with circular body.",
+    "Move the small tea box with gold patterns using the right arm to the small blue and brown bell's right position.",
+    "Set the tea box properly on the right of the brown-bottomed bell.",
+    "Shift the smooth cube with golden leaf designs to the right of the blue dome-shaped bell",
+    "Direct the right arm to place the gold-decorated beige tea box right of the round bell.",
+    "Set the smooth cube with golden leaf designs on the blue bell's right side",
+    "Position the box for tea storage at the right side of the bell with brown base",
+    "Set the small tea box with gold patterns neatly on the right side of the round bell.",
+    "Ensure the compact beige box for tea is on the right of the flat-topped bell.",
+    "Set the cube tea box with gold designs carefully on the flat-topped bell's right side.",
+    "Move the small tea box with gold patterns and place it carefully to the smooth blue bell's right.",
+    "Grab the cube tea box with gold designs with the right arm and set right of the bell with circular body.",
+    "Move the gold-decorated beige tea box to the brown-bottomed bell's right using the right arm",
+    "Move the box for tea storage to the blue bell's right position.",
+    "Use the right arm to place the small box with golden patterns right of the round bell.",
+    "Position the box for tea storage to the right of the small blue and brown bell.",
+    "Grab the beige cube with golden leaf patterns with the right arm and place it right of the metal bell with plastic parts.",
+    "Using the right arm, position the small cube-shaped tea container to the right of the small blue and brown bell.",
+    "Move the cube tea box with embossed designs and set it to the compact bell with round base's right.",
+    "Set the cube tea box with gold designs on the right side of the round bell.",
+    "Put the small tea box with gold patterns using the right arm on the right of the bell with brown base.",
+    "Stick the light beige box with embossed gold leaf on the bell with circular body's right side",
+    "Make sure the compact beige box for tea is placed right of the flat-topped bell.",
+    "Put the compact beige box for tea at the right of the bell with brown base",
+    "Use the right arm to set the light beige box with embossed gold leaf right of the brown-bottomed bell.",
+    "Place the small cube-shaped tea container precisely to the right of the bell with brown base.",
+    "Grasp the small cube-shaped tea container with the right arm and move it to the bell with circular body's right.",
+    "Position the box for tea storage to the right of the bell with circular body.",
+    "Place the smooth cube with golden leaf designs directly on the blue bell's right.",
+    "Set the gold-decorated beige tea box using the right arm at the blue dome-shaped bell's right",
+    "Move the light beige box with embossed gold leaf and place it to the brown-bottomed bell's right.",
+    "With the right arm, move the small cube-shaped tea container to the round bell's right.",
+    "Ensure the cube tea box with embossed designs is placed on the right of the round bell.",
+    "Position the tea box to the small blue and brown bell's right using the right arm",
+    "Grab the gold-decorated beige tea box using the right arm, then move it to the compact bell with round base's right.",
+    "Use the right arm to place the light beige box with embossed gold leaf right of the compact bell with round base.",
+    "Set the light beige box with embossed gold leaf right next to the compact bell with round base's right side.",
+    "Use the right arm to position the small cube-shaped tea container to the bell with protruding knob's right.",
+    "Position the small tea box with gold patterns directly to the right of the bell with protruding knob.",
+    "Grab the compact beige box for tea using the right arm and place it right of the small blue and brown bell.",
+    "Place the gold-decorated beige tea box using the right arm at the flat-topped bell's right",
+    "Place the cube tea box with embossed designs on the right of the bell with circular body.",
+    "Move the small box with golden patterns to the right beside the bell with brown base.",
+    "Put the box for tea storage exactly to the right of the small blue and brown bell.",
+    "Grab the cube tea box with gold designs using the right arm and set it to the blue dome-shaped bell's right.",
+    "Using the right arm, position the beige cube with golden leaf patterns to the right of the small blue and brown bell.",
+    "Bring the small tea box with gold patterns to the right position of the smooth blue bell.",
+    "Use the right arm to set the small box with golden patterns right of the round bell.",
+    "Move the beige cube with golden leaf patterns right of the compact bell with round base with the right arm",
+    "Set the small tea box with gold patterns down on the compact bell with round base's right side.",
+    "Take the cube tea box with embossed designs with the right arm and position it right of the compact bell with round base.",
+    "Move the cube tea box with gold designs using the right arm to the brown-bottomed bell's right position.",
+    "Set the small box with golden patterns properly on the right of the round bell.",
+    "Shift the light beige box with embossed gold leaf to the right of the compact bell with round base",
+    "Direct the right arm to place the tea box right of the brown-bottomed bell.",
+    "Set the tea box on the blue dome-shaped bell's right side",
+    "Position the compact beige box for tea at the right side of the metal bell with plastic parts",
+    "Set the gold-decorated beige tea box neatly on the right side of the bell with brown base.",
+    "Ensure the small cube-shaped tea container is on the right of the bell with brown base.",
+    "Set the tea box carefully on the small blue and brown bell's right side.",
+    "Move the cube tea box with gold designs and place it carefully to the small blue and brown bell's right.",
+    "Grab the cube tea box with embossed designs with the right arm and set right of the blue bell.",
+    "Move the cube tea box with gold designs to the round bell's right using the right arm",
+    "Move the cube tea box with embossed designs to the compact bell with round base's right position.",
+    "Use the right arm to place the compact beige box for tea right of the small blue and brown bell.",
+    "Position the small cube-shaped tea container to the right of the compact bell with round base.",
+    "Grab the small cube-shaped tea container with the right arm and place it right of the blue bell.",
+    "Using the right arm, position the small tea box with gold patterns to the right of the bell with circular body.",
+    "Move the gold-decorated beige tea box and set it to the metal bell with plastic parts's right.",
+    "Set the tea box on the right side of the bell with protruding knob.",
+    "Put the light beige box with embossed gold leaf using the right arm on the right of the smooth blue bell.",
+    "Stick the small box with golden patterns on the blue bell's right side",
+    "Make sure the small box with golden patterns is placed right of the blue dome-shaped bell.",
+    "Put the beige cube with golden leaf patterns at the right of the bell with circular body",
+    "Use the right arm to set the cube tea box with embossed designs right of the bell with circular body.",
+    "Place the smooth cube with golden leaf designs precisely to the right of the round bell.",
+    "Grasp the small tea box with gold patterns with the right arm and move it to the bell with protruding knob's right.",
+    "Position the cube tea box with embossed designs to the right of the brown-bottomed bell.",
+    "Place the cube tea box with gold designs directly on the blue bell's right.",
+    "Set the cube tea box with gold designs using the right arm at the small blue and brown bell's right",
+    "Move the small tea box with gold patterns and place it to the blue dome-shaped bell's right.",
+    "With the right arm, move the small box with golden patterns to the smooth blue bell's right.",
+    "Ensure the tea box is placed on the right of the blue bell.",
+    "Position the smooth cube with golden leaf designs to the compact bell with round base's right using the right arm",
+    "Grab the light beige box with embossed gold leaf using the right arm, then move it to the blue bell's right.",
+    "Use the right arm to place the cube tea box with embossed designs right of the brown-bottomed bell.",
+    "Set the gold-decorated beige tea box right next to the bell with brown base's right side.",
+    "Use the right arm to position the beige cube with golden leaf patterns to the bell with brown base's right.",
+    "Position the light beige box with embossed gold leaf directly to the right of the compact bell with round base.",
+    "Grab the box for tea storage using the right arm and place it right of the metal bell with plastic parts.",
+    "Place the cube tea box with gold designs using the right arm at the smooth blue bell's right"
+  ],
+  "unseen": [
+    "Place the beige box with golden decoration on the right of the bell with raised round top.",
+    "Place the light beige cube rightward of the blue bell with glossy finish using the right arm",
+    "Put the light beige cube to the right of the bell with raised round top.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the blue bell with glossy finish.",
+    "Put the beige box with golden decoration to the right of the palm-sized bell.",
+    "Place the beige box with golden decoration on the blue bell with glossy finish's right side.",
+    "Set the beige box with golden decoration to the right of the blue bell with glossy finish.",
+    "Put the light beige cube to the right of the bell with raised round top.",
+    "Set the cube tea box with shiny embossed patterns on the right of the bell with raised round top.",
+    "Put the cube tea box with shiny embossed patterns to the right of the palm-sized bell",
+    "Place the cube tea box with shiny embossed patterns on the right of the blue bell with glossy finish.",
+    "Place the beige box with golden decoration rightward of the blue bell with glossy finish using the right arm",
+    "Put the cube tea box with shiny embossed patterns to the right of the bell with raised round top.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the bell with raised round top.",
+    "Put the light beige cube to the right of the palm-sized bell.",
+    "Place the beige box with golden decoration on the blue bell with glossy finish's right side.",
+    "Set the beige box with golden decoration to the right of the bell with raised round top.",
+    "Put the light beige cube to the right of the palm-sized bell.",
+    "Set the cube tea box with shiny embossed patterns on the right of the bell with raised round top.",
+    "Put the light beige cube to the right of the palm-sized bell",
+    "Place the cube tea box with shiny embossed patterns on the right of the palm-sized bell.",
+    "Place the light beige cube rightward of the palm-sized bell using the right arm",
+    "Put the light beige cube to the right of the blue bell with glossy finish.",
+    "Grab the beige box with golden decoration and place it right of the bell with raised round top.",
+    "Put the light beige cube to the right of the bell with raised round top.",
+    "Place the beige box with golden decoration on the bell with raised round top's right side.",
+    "Set the beige box with golden decoration to the right of the palm-sized bell.",
+    "Put the cube tea box with shiny embossed patterns to the right of the palm-sized bell.",
+    "Set the beige box with golden decoration on the right of the blue bell with glossy finish.",
+    "Put the cube tea box with shiny embossed patterns to the right of the bell with raised round top",
+    "Place the cube tea box with shiny embossed patterns on the right of the bell with raised round top.",
+    "Place the cube tea box with shiny embossed patterns rightward of the palm-sized bell using the right arm",
+    "Put the cube tea box with shiny embossed patterns to the right of the bell with raised round top.",
+    "Grab the beige box with golden decoration and place it right of the palm-sized bell.",
+    "Put the cube tea box with shiny embossed patterns to the right of the bell with raised round top.",
+    "Place the cube tea box with shiny embossed patterns on the blue bell with glossy finish's right side.",
+    "Set the light beige cube to the right of the blue bell with glossy finish.",
+    "Put the light beige cube to the right of the blue bell with glossy finish.",
+    "Set the light beige cube on the right of the palm-sized bell.",
+    "Put the cube tea box with shiny embossed patterns to the right of the palm-sized bell",
+    "Place the beige box with golden decoration on the right of the blue bell with glossy finish.",
+    "Place the beige box with golden decoration rightward of the bell with raised round top using the right arm",
+    "Put the cube tea box with shiny embossed patterns to the right of the blue bell with glossy finish.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the bell with raised round top.",
+    "Put the beige box with golden decoration to the right of the bell with raised round top.",
+    "Place the cube tea box with shiny embossed patterns on the palm-sized bell's right side.",
+    "Set the light beige cube to the right of the blue bell with glossy finish.",
+    "Put the light beige cube to the right of the blue bell with glossy finish.",
+    "Set the light beige cube on the right of the bell with raised round top.",
+    "Put the light beige cube to the right of the palm-sized bell",
+    "Place the cube tea box with shiny embossed patterns on the right of the blue bell with glossy finish.",
+    "Place the cube tea box with shiny embossed patterns rightward of the bell with raised round top using the right arm",
+    "Put the light beige cube to the right of the blue bell with glossy finish.",
+    "Grab the light beige cube and place it right of the blue bell with glossy finish.",
+    "Put the cube tea box with shiny embossed patterns to the right of the blue bell with glossy finish.",
+    "Place the beige box with golden decoration on the palm-sized bell's right side.",
+    "Set the beige box with golden decoration to the right of the palm-sized bell.",
+    "Put the light beige cube to the right of the bell with raised round top.",
+    "Set the light beige cube on the right of the bell with raised round top.",
+    "Put the beige box with golden decoration to the right of the blue bell with glossy finish",
+    "Place the light beige cube on the right of the blue bell with glossy finish.",
+    "Place the beige box with golden decoration rightward of the bell with raised round top using the right arm",
+    "Put the cube tea box with shiny embossed patterns to the right of the bell with raised round top.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the bell with raised round top.",
+    "Put the cube tea box with shiny embossed patterns to the right of the blue bell with glossy finish.",
+    "Place the beige box with golden decoration on the palm-sized bell's right side.",
+    "Set the cube tea box with shiny embossed patterns to the right of the blue bell with glossy finish.",
+    "Put the beige box with golden decoration to the right of the blue bell with glossy finish.",
+    "Set the beige box with golden decoration on the right of the bell with raised round top.",
+    "Put the cube tea box with shiny embossed patterns to the right of the blue bell with glossy finish",
+    "Place the light beige cube on the right of the blue bell with glossy finish.",
+    "Place the light beige cube rightward of the palm-sized bell using the right arm",
+    "Put the beige box with golden decoration to the right of the bell with raised round top.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the bell with raised round top.",
+    "Put the light beige cube to the right of the bell with raised round top.",
+    "Place the cube tea box with shiny embossed patterns on the palm-sized bell's right side.",
+    "Set the light beige cube to the right of the bell with raised round top.",
+    "Put the cube tea box with shiny embossed patterns to the right of the palm-sized bell.",
+    "Set the light beige cube on the right of the bell with raised round top.",
+    "Put the cube tea box with shiny embossed patterns to the right of the palm-sized bell",
+    "Place the beige box with golden decoration on the right of the palm-sized bell.",
+    "Place the light beige cube rightward of the blue bell with glossy finish using the right arm",
+    "Put the beige box with golden decoration to the right of the bell with raised round top.",
+    "Grab the cube tea box with shiny embossed patterns and place it right of the blue bell with glossy finish.",
+    "Put the beige box with golden decoration to the right of the bell with raised round top.",
+    "Place the beige box with golden decoration on the blue bell with glossy finish's right side.",
+    "Set the beige box with golden decoration to the right of the bell with raised round top.",
+    "Put the beige box with golden decoration to the right of the bell with raised round top.",
+    "Set the light beige cube on the right of the bell with raised round top.",
+    "Put the beige box with golden decoration to the right of the palm-sized bell",
+    "Place the light beige cube on the right of the palm-sized bell.",
+    "Place the beige box with golden decoration rightward of the palm-sized bell using the right arm",
+    "Put the beige box with golden decoration to the right of the palm-sized bell.",
+    "Grab the beige box with golden decoration and place it right of the palm-sized bell.",
+    "Put the light beige cube to the right of the blue bell with glossy finish.",
+    "Place the light beige cube on the palm-sized bell's right side.",
+    "Set the cube tea box with shiny embossed patterns to the right of the bell with raised round top.",
+    "Put the light beige cube to the right of the palm-sized bell.",
+    "Set the light beige cube on the right of the palm-sized bell.",
+    "Put the light beige cube to the right of the blue bell with glossy finish"
+  ]
+}

place_a2b_right/ur5_randomized_500/instructions/episode89.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rubikscube right next to the small golden baked bread's right side.",
+    "Use the left arm to place the rubikscube colorful and compact right of the soft doughy bread.",
+    "Set the rubikscube with rotating faces neatly on the right side of the braided bread loaf.",
+    "Grasp the rubikscube colorful and compact with the left arm and move it to the small bread's right.",
+    "Place the multicolored puzzle cube precisely to the right of the smooth crusty small bread.",
+    "Position the rubikscube cube shape to the right of the soft doughy bread.",
+    "Put the rubikscube with smooth plastic tiles using the left arm on the right of the round bread with crusty texture.",
+    "Using the left arm, position the yellow-blue rubikscube to the right of the soft golden bread.",
+    "Using the left arm, position the rubikscube cube shape to the right of the smooth crusty small bread.",
+    "Use the left arm to place the rubikscube with green center tiles right of the golden brown bread.",
+    "Grab the rubikscube cube shape using the left arm, then move it to the golden bread loaf with soft inside's right.",
+    "Take the yellow-blue rubikscube with the left arm and position it right of the small bread.",
+    "Position the small square rubikscube to the right of the golden bread loaf with soft inside.",
+    "Set the rubikscube cube shape carefully on the golden brown bread with braided design's right side.",
+    "Make sure the rubikscube is placed right of the soft doughy bread.",
+    "Set the rubikscube with rotating faces on the smooth crusty small bread's right side",
+    "Shift the rubikscube plastic and smooth to the right of the soft golden bread",
+    "With the left arm, move the rubikscube plastic and smooth to the smooth crusty small bread's right.",
+    "Stick the rubikscube with smooth plastic tiles on the braided bread loaf's right side",
+    "Use the left arm to set the rubikscube with smooth plastic tiles right of the round bread with crusty texture.",
+    "Grab the yellow-blue rubikscube using the left arm and set it to the golden brown bread with braided design's right.",
+    "Use the left arm to position the rubikscube colorful and compact to the golden brown bread with braided design's right.",
+    "Bring the rubikscube with green center tiles to the right position of the braided bread loaf.",
+    "Move the rubikscube with rotating faces and place it carefully to the golden brown bread's right.",
+    "Place the rubikscube plastic and smooth directly on the round bread with braided top's right.",
+    "Set the multicolored puzzle cube down on the golden brown bread's right side.",
+    "Move the rubikscube with rotating faces right of the soft golden bread with the left arm",
+    "Move the rubikscube cube shape to the right beside the soft golden bread.",
+    "Grab the rubikscube with green center tiles with the left arm and place it right of the soft doughy bread.",
+    "Move the rubikscube colorful and compact and place it to the round bread with braided top's right.",
+    "Ensure the colorful rubikscube is placed on the right of the small bread.",
+    "Position the rubikscube cube shape directly to the right of the golden brown bread with braided design.",
+    "Put the yellow-blue rubikscube exactly to the right of the golden brown bread with braided design.",
+    "Place the colorful rubikscube on the right of the soft golden bread.",
+    "Grab the rubikscube with rotating faces with the left arm and set right of the soft doughy bread.",
+    "Move the rubikscube to the braided bread loaf's right position.",
+    "Set the rubikscube with green center tiles on the right side of the braided bread loaf.",
+    "Put the rubikscube with smooth plastic tiles at the right of the golden bread loaf with soft inside",
+    "Move the colorful rubikscube and set it to the smooth crusty small bread's right.",
+    "Place the rubikscube using the left arm at the golden brown bread's right",
+    "Use the left arm to set the rubikscube with green center tiles right of the round bread with crusty texture.",
+    "Position the colorful rubikscube to the round bread with crusty texture's right using the left arm",
+    "Position the colorful rubikscube at the right side of the small bread",
+    "Ensure the rubikscube cube shape is on the right of the small golden baked bread.",
+    "Set the rubikscube with orange sides using the left arm at the round bread with braided top's right",
+    "Grab the rubikscube with green center tiles using the left arm and place it right of the soft golden bread.",
+    "Set the colorful rubikscube properly on the right of the golden brown bread.",
+    "Direct the left arm to place the rubikscube colorful and compact right of the golden brown bread with braided design.",
+    "Move the small square rubikscube to the golden bread loaf with soft inside's right using the left arm",
+    "Move the rubikscube with green center tiles using the left arm to the golden brown bread with braided design's right position.",
+    "Set the rubikscube with rotating faces right next to the smooth crusty small bread's right side.",
+    "Use the left arm to place the rubikscube with rotating faces right of the soft doughy bread.",
+    "Set the rubikscube plastic and smooth neatly on the right side of the golden brown bread.",
+    "Grasp the colorful rubikscube with the left arm and move it to the small bread's right.",
+    "Place the rubikscube cube shape precisely to the right of the smooth crusty small bread.",
+    "Position the small square rubikscube to the right of the small golden baked bread.",
+    "Put the yellow-blue rubikscube using the left arm on the right of the round bread with crusty texture.",
+    "Using the left arm, position the rubikscube with green center tiles to the right of the soft golden bread.",
+    "Using the left arm, position the small square rubikscube to the right of the small golden baked bread.",
+    "Use the left arm to place the small square rubikscube right of the bread with golden crust.",
+    "Grab the rubikscube with green center tiles using the left arm, then move it to the golden brown bread's right.",
+    "Take the rubikscube with orange sides with the left arm and position it right of the bread with golden crust.",
+    "Position the rubikscube to the right of the small bread.",
+    "Set the rubikscube with green center tiles carefully on the soft doughy bread's right side.",
+    "Make sure the yellow-blue rubikscube is placed right of the golden bread loaf with soft inside.",
+    "Set the rubikscube with smooth plastic tiles on the braided bread loaf's right side",
+    "Shift the rubikscube with orange sides to the right of the golden bread loaf with soft inside",
+    "With the left arm, move the rubikscube with green center tiles to the soft golden bread's right.",
+    "Stick the rubikscube on the round bread with braided top's right side",
+    "Use the left arm to set the colorful rubikscube right of the small bread.",
+    "Grab the colorful rubikscube using the left arm and set it to the smooth crusty small bread's right.",
+    "Use the left arm to position the yellow-blue rubikscube to the round bread with crusty texture's right.",
+    "Bring the colorful rubikscube to the right position of the soft doughy bread.",
+    "Move the rubikscube and place it carefully to the golden bread loaf with soft inside's right.",
+    "Place the yellow-blue rubikscube directly on the small bread's right.",
+    "Set the rubikscube cube shape down on the round bread with braided top's right side.",
+    "Move the small square rubikscube right of the braided bread loaf with the left arm",
+    "Move the rubikscube with rotating faces to the right beside the small golden baked bread.",
+    "Grab the rubikscube plastic and smooth with the left arm and place it right of the golden bread loaf with soft inside.",
+    "Move the multicolored puzzle cube and place it to the braided bread loaf's right.",
+    "Ensure the rubikscube is placed on the right of the soft golden bread.",
+    "Position the rubikscube plastic and smooth directly to the right of the smooth crusty small bread.",
+    "Put the yellow-blue rubikscube exactly to the right of the round bread with crusty texture.",
+    "Place the rubikscube colorful and compact on the right of the golden brown bread with braided design.",
+    "Grab the rubikscube with smooth plastic tiles with the left arm and set right of the golden brown bread.",
+    "Move the rubikscube cube shape to the small golden baked bread's right position.",
+    "Set the rubikscube on the right side of the soft golden bread.",
+    "Put the yellow-blue rubikscube at the right of the golden bread loaf with soft inside",
+    "Move the rubikscube with green center tiles and set it to the round bread with braided top's right.",
+    "Place the colorful rubikscube using the left arm at the soft golden bread's right",
+    "Use the left arm to set the rubikscube with rotating faces right of the golden brown bread with braided design.",
+    "Position the colorful rubikscube to the soft golden bread's right using the left arm",
+    "Position the rubikscube with smooth plastic tiles at the right side of the small golden baked bread",
+    "Ensure the rubikscube with smooth plastic tiles is on the right of the small bread.",
+    "Set the rubikscube with smooth plastic tiles using the left arm at the soft doughy bread's right",
+    "Grab the rubikscube with rotating faces using the left arm and place it right of the small bread.",
+    "Set the rubikscube cube shape properly on the right of the round bread with braided top.",
+    "Direct the left arm to place the rubikscube with smooth plastic tiles right of the braided bread loaf.",
+    "Move the colorful rubikscube to the soft golden bread's right using the left arm",
+    "Move the rubikscube with rotating faces using the left arm to the round bread with braided top's right position."
+  ],
+  "unseen": [
+    "Place the handheld rubikscube on the round braided loaf's right side.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf.",
+    "Place the handheld rubikscube on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Set the handheld rubikscube on the right of the palm-sized braided golden bread.",
+    "Grab the rubikscube with yellow top and place it right of the round braided loaf.",
+    "Place the rubikscube for puzzle solving rightward of the round braided loaf using the left arm",
+    "Set the rubikscube with yellow top to the right of the braided top round bread.",
+    "Put the rubikscube with yellow top to the right of the braided top round bread.",
+    "Place the rubikscube for puzzle solving on the braided top round bread's right side.",
+    "Put the handheld rubikscube to the right of the braided top round bread.",
+    "Place the handheld rubikscube on the right of the braided top round bread.",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Set the rubikscube with yellow top on the right of the palm-sized braided golden bread.",
+    "Grab the rubikscube with yellow top and place it right of the palm-sized braided golden bread.",
+    "Place the rubikscube for puzzle solving rightward of the round braided loaf using the left arm",
+    "Set the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Put the rubikscube with yellow top to the right of the braided top round bread.",
+    "Place the handheld rubikscube on the braided top round bread's right side.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf.",
+    "Place the rubikscube for puzzle solving on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube for puzzle solving to the right of the braided top round bread",
+    "Put the rubikscube for puzzle solving to the right of the palm-sized braided golden bread.",
+    "Set the handheld rubikscube on the right of the round braided loaf.",
+    "Grab the handheld rubikscube and place it right of the braided top round bread.",
+    "Place the rubikscube with yellow top rightward of the round braided loaf using the left arm",
+    "Set the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Put the handheld rubikscube to the right of the braided top round bread.",
+    "Place the rubikscube for puzzle solving on the round braided loaf's right side.",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Place the handheld rubikscube on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube for puzzle solving to the right of the palm-sized braided golden bread",
+    "Put the rubikscube with yellow top to the right of the palm-sized braided golden bread.",
+    "Set the rubikscube for puzzle solving on the right of the round braided loaf.",
+    "Grab the rubikscube for puzzle solving and place it right of the braided top round bread.",
+    "Place the handheld rubikscube rightward of the round braided loaf using the left arm",
+    "Set the rubikscube for puzzle solving to the right of the palm-sized braided golden bread.",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Place the handheld rubikscube on the braided top round bread's right side.",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Place the rubikscube for puzzle solving on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube for puzzle solving to the right of the braided top round bread",
+    "Put the rubikscube with yellow top to the right of the braided top round bread.",
+    "Set the rubikscube for puzzle solving on the right of the palm-sized braided golden bread.",
+    "Grab the handheld rubikscube and place it right of the round braided loaf.",
+    "Place the handheld rubikscube rightward of the round braided loaf using the left arm",
+    "Set the rubikscube with yellow top to the right of the round braided loaf.",
+    "Put the handheld rubikscube to the right of the round braided loaf.",
+    "Place the rubikscube with yellow top on the braided top round bread's right side.",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Place the rubikscube with yellow top on the right of the braided top round bread.",
+    "Put the rubikscube for puzzle solving to the right of the palm-sized braided golden bread",
+    "Put the rubikscube for puzzle solving to the right of the braided top round bread.",
+    "Set the rubikscube for puzzle solving on the right of the braided top round bread.",
+    "Grab the rubikscube for puzzle solving and place it right of the palm-sized braided golden bread.",
+    "Place the rubikscube with yellow top rightward of the braided top round bread using the left arm",
+    "Set the rubikscube for puzzle solving to the right of the palm-sized braided golden bread.",
+    "Put the rubikscube for puzzle solving to the right of the braided top round bread.",
+    "Place the rubikscube with yellow top on the round braided loaf's right side.",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Place the rubikscube with yellow top on the right of the braided top round bread.",
+    "Put the rubikscube with yellow top to the right of the palm-sized braided golden bread",
+    "Put the rubikscube with yellow top to the right of the round braided loaf.",
+    "Set the handheld rubikscube on the right of the round braided loaf.",
+    "Grab the handheld rubikscube and place it right of the palm-sized braided golden bread.",
+    "Place the rubikscube for puzzle solving rightward of the palm-sized braided golden bread using the left arm",
+    "Set the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Place the rubikscube for puzzle solving on the palm-sized braided golden bread's right side.",
+    "Put the rubikscube for puzzle solving to the right of the braided top round bread.",
+    "Place the rubikscube with yellow top on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Set the rubikscube with yellow top on the right of the braided top round bread.",
+    "Grab the handheld rubikscube and place it right of the braided top round bread.",
+    "Place the handheld rubikscube rightward of the braided top round bread using the left arm",
+    "Set the handheld rubikscube to the right of the round braided loaf.",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Place the rubikscube with yellow top on the round braided loaf's right side.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf.",
+    "Place the handheld rubikscube on the right of the braided top round bread.",
+    "Put the rubikscube with yellow top to the right of the palm-sized braided golden bread",
+    "Put the handheld rubikscube to the right of the round braided loaf.",
+    "Set the rubikscube with yellow top on the right of the braided top round bread.",
+    "Grab the rubikscube with yellow top and place it right of the round braided loaf.",
+    "Place the rubikscube for puzzle solving rightward of the round braided loaf using the left arm",
+    "Set the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Put the handheld rubikscube to the right of the palm-sized braided golden bread.",
+    "Place the rubikscube with yellow top on the braided top round bread's right side.",
+    "Put the rubikscube for puzzle solving to the right of the palm-sized braided golden bread.",
+    "Place the handheld rubikscube on the right of the palm-sized braided golden bread.",
+    "Put the rubikscube with yellow top to the right of the round braided loaf",
+    "Put the rubikscube for puzzle solving to the right of the round braided loaf.",
+    "Set the rubikscube with yellow top on the right of the braided top round bread.",
+    "Grab the rubikscube for puzzle solving and place it right of the palm-sized braided golden bread.",
+    "Place the handheld rubikscube rightward of the palm-sized braided golden bread using the left arm",
+    "Set the handheld rubikscube to the right of the braided top round bread.",
+    "Put the rubikscube with yellow top to the right of the braided top round bread."
+  ]
+}