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+{
+  "seen": [
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Take the dark inside bowl light blue outside, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the ceramic bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl with slightly rounded base.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the blue bowl, then carefully place the ceramic bowl on top.",
+    "Position the curved bowl light blue shade and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside on top of the glazed bowl with curved sides.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl to stack above.",
+    "Align the glazed bowl with curved sides over the bowl with shiny texture, then complete the stack.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on it.",
+    "Pick up the dark inside bowl light blue outside and set the medium-sized bowl for holding food on it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the blue bowl, position it, and place the curved bowl light blue shade on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Align the rounded bowl with light blue color and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Stack the rounded bowl with light blue color securely on top of the blue bowl with slightly rounded base.",
+    "Grasp the blue bowl, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the blue bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Set the medium-sized bowl for holding food over the dark inside bowl light blue outside to create the stack.",
+    "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Hold the ceramic bowl steady and slide the small bowl with brown edge on.",
+    "Pick up the ceramic bowl using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl over it.",
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Set down the ceramic bowl and drop the bowl with shiny texture on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with shiny texture, and place it over the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with shiny texture.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the right arm.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Take the dark inside bowl light blue outside, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.",
+    "Use the arm to place the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with shiny texture.",
+    "Stack the glazed bowl with curved sides carefully over the small bowl with brown edge.",
+    "Use the right arm for the blue bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Position the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the blue bowl down, then set the curved bowl light blue shade on top of the blue bowl.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Align the ceramic bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick the small bowl with brown edge, then stack the rounded bowl with light blue color on it.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl on it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Grab the bowl with brown outer rim, position it, and place the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Set the small bowl with brown edge over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the bowl with brown outer rim directly above.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl with earthy brown trim down and stack the dark inside bowl light blue outside on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl, and set the blue bowl on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the dark inside bowl light blue outside on top.",
+    "Position the bowl with shiny texture, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the bowl with brown outer rim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.",
+    "Lift the ceramic bowl, then stack it on the blue bowl.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "With the right arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the rounded bowl with light blue color over it.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode1.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode1.json
new file mode 100644
index 0000000000000000000000000000000000000000..73311091932a33314f3b7d2432199d78ea772c92
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode1.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the small bowl with brown edge.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the glazed bowl with curved sides on top.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Take the ceramic bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Lift the bowl with shiny texture, position the blue bowl above it, and stack.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Align the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside, then complete the stack.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Set down the blue bowl and drop the glazed bowl with curved sides on top.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl, then stack the medium-sized bowl for holding food on it.",
+    "Position the small bowl with brown edge, lift the small bowl with brown edge, and place the small bowl with brown edge on the small bowl with brown edge.",
+    "Pick up the blue bowl, grab the blue bowl, and stack the blue bowl on the blue bowl.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Align the curved bowl light blue shade and the curved bowl light blue shade, then stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Set the small bowl with brown edge down, then add the medium-sized bowl for holding food over it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it.",
+    "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl on top of the blue bowl with slightly rounded base.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl on top.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Grab the ceramic bowl, position it, and place the bowl with brown outer rim on top.",
+    "Arrange the rounded bowl with light blue color, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the ceramic bowl, then carefully place the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the bowl with shiny texture and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the blue bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, position the medium-sized bowl for holding food, and place it over the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl with slightly rounded base on it.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Stack the blue bowl securely on top of the bowl with shiny texture.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Align the blue bowl over the blue bowl, then complete the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with brown outer rim above.",
+    "Set down the rounded bowl with light blue color and drop the curved bowl light blue shade on top.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Position the bowl with shiny texture, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides, grab the small bowl with brown edge, and stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl.",
+    "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Take the blue bowl, align the bowl with shiny texture, and stack them.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim on top of the bowl with brown outer rim.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Put the medium-sized bowl for holding food first, then bring the glazed bowl with curved sides to stack above.",
+    "Set the bowl with brown outer rim over the blue bowl to create the stack.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl with slightly rounded base on top.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode10.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode10.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6d420d1bed7d72eb5e6952d72dc330306ee1afa
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode10.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the bowl with brown outer rim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Set the ceramic bowl over the dark inside bowl light blue outside to create the stack.",
+    "Hold the ceramic bowl steady and slide the blue bowl on.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Place the blue bowl with slightly rounded base down and stack the curved bowl light blue shade on top.",
+    "Position the glazed bowl with curved sides, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Take the blue bowl with slightly rounded base, align the small bowl with brown edge, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside, position it, and place the dark inside bowl light blue outside on top.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside on top of the rounded bowl with light blue color.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.",
+    "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the right arm.",
+    "Put the blue bowl first, then bring the blue bowl to stack above.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Set the medium-sized bowl for holding food down, then add the glazed bowl with curved sides over it.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.",
+    "Pick up the bowl with shiny texture, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Align the small bowl with brown edge and the curved bowl light blue shade, then stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the bowl with shiny texture, align the rounded bowl with light blue color, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with shiny texture, position it, and place the curved bowl light blue shade on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Hold the curved bowl light blue shade and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Take the glazed bowl with curved sides, position it, then stack the rounded bowl with light blue color directly above.",
+    "With the right arm, lift the bowl with shiny texture and stack the blue bowl using the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the small bowl with brown edge carefully on the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim and set the bowl with brown outer rim on it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Align the rounded bowl with light blue color over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Set down the blue bowl and drop the dark inside bowl light blue outside on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, then carefully place the ceramic bowl on top.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the medium-sized bowl for holding food over it.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the rounded bowl with light blue color above it.",
+    "Arrange the blue bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the curved bowl light blue shade on it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl on top.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Align the blue bowl with slightly rounded base and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode100.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode100.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8fbce78a39d8822d277add2325ab62e0f0685c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode100.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Arrange the rounded bowl with light blue color, lift the blue bowl with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl over it.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Align the bowl with shiny texture and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Set the bowl with shiny texture over the blue bowl to create the stack.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Place the curved bowl light blue shade down and stack the dark inside bowl light blue outside on top.",
+    "Hold the curved bowl light blue shade and stack the small bowl with brown edge neatly atop.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "With the left arm, lift the bowl with shiny texture and stack the blue bowl using the right arm.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl over it.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.",
+    "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the bowl with brown outer rim above it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, place the bowl with shiny texture above, and let go.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with shiny texture on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl on.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Stack the ceramic bowl securely on top of the glazed bowl with curved sides.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.",
+    "Place the ceramic bowl on the surface, then stack the ceramic bowl above it.",
+    "Arrange the curved bowl light blue shade, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Set the bowl with brown outer rim down, then add the rounded bowl with light blue color over it.",
+    "Lift the blue bowl using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Align the bowl with brown outer rim and the small bowl with brown edge, then stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Pick the blue bowl with slightly rounded base, position the curved bowl light blue shade, and place it over the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Put the medium-sized bowl for holding food first, then bring the small bowl with brown edge to stack above.",
+    "Set the bowl with shiny texture over the bowl with brown outer rim to create the stack.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Take the ceramic bowl, position it, then stack the bowl with shiny texture directly above.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl.",
+    "Set down the medium-sized bowl for holding food and drop the glazed bowl with curved sides on top.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick up the glazed bowl with curved sides and set the curved bowl light blue shade on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Position the medium-sized bowl for holding food and stack the bowl with shiny texture securely onto it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the small bowl with brown edge carefully on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Grab the blue bowl, position it, and place the ceramic bowl on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl, and stack the blue bowl on the rounded bowl with light blue color.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture above it.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Pick up the blue bowl, place it down, then position the bowl with shiny texture on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Take the rounded bowl with light blue color, align the rounded bowl with light blue color, and stack them.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Align the medium-sized bowl for holding food over the bowl with brown outer rim, then complete the stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Arrange the small bowl with brown edge, lift the medium-sized bowl for holding food with the arm, and stack them."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode101.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode101.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae399e71db1c5fd1dfb0b4772825646e22ae3dfc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode101.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the medium-sized bowl for holding food over it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Position the medium-sized bowl for holding food and stack the small bowl with brown edge securely onto it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the small bowl with brown edge, then carefully place the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the bowl with brown outer rim, align the blue bowl, and stack them.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the medium-sized bowl for holding food, lift the small bowl with brown edge, and place the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Put the blue bowl first, then bring the ceramic bowl to stack above.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the medium-sized bowl for holding food.",
+    "Align the ceramic bowl over the ceramic bowl, then complete the stack.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.",
+    "Set the rounded bowl with light blue color down, then add the bowl with brown outer rim over it.",
+    "Align the medium-sized bowl for holding food and the curved bowl light blue shade, then stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the right arm.",
+    "Place the rounded bowl with light blue color down and stack the bowl with shiny texture on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color using the right arm.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with brown outer rim.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl over it.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick up the glazed bowl with curved sides, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides and position it neatly over the curved bowl light blue shade.",
+    "Put the small bowl with brown edge first, then bring the rounded bowl with light blue color to stack above.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.",
+    "Use the arm to place the blue bowl, then stack the glazed bowl with curved sides on top.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Position the glazed bowl with curved sides with the arm, then set the rounded bowl with light blue color above it.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Align the glazed bowl with curved sides and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Grab the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim, and place it over the rounded bowl with light blue color.",
+    "Use the left arm for the blue bowl, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, position it, and place the bowl with shiny texture on top.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the small bowl with brown edge steady and slide the glazed bowl with curved sides on.",
+    "Pick the medium-sized bowl for holding food, then stack the bowl with brown outer rim on it.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "With the left arm, lift the curved bowl light blue shade and stack the ceramic bowl using the right arm.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture on top of the small bowl with brown edge.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with shiny texture on it.",
+    "Position the medium-sized bowl for holding food carefully on the glazed bowl with curved sides.",
+    "Pick up the blue bowl using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode102.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode102.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f046ab360a8ef984c17342a2c700da4d6552979
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode102.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue bowl with slightly rounded base and set the curved bowl light blue shade on it.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Place the ceramic bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Place the ceramic bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.",
+    "Pick the curved bowl light blue shade, position the bowl with shiny texture, and place it over the curved bowl light blue shade.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Arrange the dark inside bowl light blue outside, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set the ceramic bowl down, then add the small bowl with brown edge over it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the ceramic bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick up the ceramic bowl using the right arm, then stack the blue bowl using the right arm.",
+    "Set the ceramic bowl over the ceramic bowl to create the stack.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl to stack above.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the small bowl with brown edge and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on it.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Align the blue bowl with slightly rounded base and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack.",
+    "Pick up the ceramic bowl and set the dark inside bowl light blue outside on it.",
+    "Hold the ceramic bowl and stack the ceramic bowl neatly atop.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl on top.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Position the bowl with shiny texture, lift the blue bowl, and place the blue bowl on the bowl with shiny texture.",
+    "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Take the small bowl with brown edge, place the bowl with shiny texture above, and let go.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the dark inside bowl light blue outside above it.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with shiny texture on top.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Take the bowl with shiny texture, align the bowl with shiny texture, and stack them.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the glazed bowl with curved sides above it.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.",
+    "Pick the medium-sized bowl for holding food, position the medium-sized bowl for holding food, and place it over the medium-sized bowl for holding food.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl on.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Set the bowl with brown outer rim over the glazed bowl with curved sides to create the stack.",
+    "Grab the blue bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl over it.",
+    "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on it.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the bowl with shiny texture, position the bowl with shiny texture above it, and stack.",
+    "Pick up the blue bowl with slightly rounded base and set the curved bowl light blue shade on it.",
+    "Hold the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food neatly atop."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode103.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode103.json
new file mode 100644
index 0000000000000000000000000000000000000000..8620ad5cb42c0a07abddb4d69b7b970779c8dcc5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode103.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, then carefully place the bowl with shiny texture on top.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the small bowl with brown edge, grab the blue bowl, and stack the blue bowl on the small bowl with brown edge.",
+    "Lift the ceramic bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Set the curved bowl light blue shade down, then add the bowl with shiny texture over it.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Align the rounded bowl with light blue color over the dark inside bowl light blue outside, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Position the ceramic bowl and stack the curved bowl light blue shade securely onto it.",
+    "Take the bowl with shiny texture, place the glazed bowl with curved sides above, and let go.",
+    "Place the bowl with brown outer rim down and stack the blue bowl on top.",
+    "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, position the curved bowl light blue shade above it, and stack.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with brown outer rim on top.",
+    "Pick up the blue bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Take the blue bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Pick the bowl with shiny texture, then stack the glazed bowl with curved sides on it.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Take the ceramic bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "the curved bowl light blue shade goes at the bottom, the blue bowl rests above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Grab the ceramic bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl on it.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the ceramic bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food down, then add the bowl with shiny texture over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Align the curved bowl light blue shade over the bowl with shiny texture, then complete the stack.",
+    "Use the arm to place the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl above, and let go.",
+    "Place the blue bowl down and stack the blue bowl on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "With the left arm, lift the ceramic bowl and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl above.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.",
+    "Grab the bowl with shiny texture, then stack the bowl with shiny texture on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Pick the ceramic bowl, position the curved bowl light blue shade, and place it over the ceramic bowl.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Hold the dark inside bowl light blue outside steady and slide the rounded bowl with light blue color on.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the small bowl with brown edge.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl with earthy brown trim carefully on the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, then carefully place the dark inside bowl light blue outside on top.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the right arm."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode104.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode104.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d79d43e9a9b5d1a53ff35ed999e58358e776adb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode104.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim above it.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl using the left arm.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Hold the medium-sized bowl for holding food steady and slide the curved bowl light blue shade on.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Align the bowl with brown outer rim over the curved bowl light blue shade, then complete the stack.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the dark inside bowl light blue outside using the left arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the bowl with shiny texture, align the bowl with shiny texture, and stack them.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Place the bowl with brown outer rim on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the blue bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick the ceramic bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Align the glazed bowl with curved sides and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "the ceramic bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl above.",
+    "Grab the rounded bowl with light blue color, then carefully place the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on it.",
+    "Lift the blue bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Pick the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside, and place it over the ceramic bowl with earthy brown trim.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the medium-sized bowl for holding food.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Hold the bowl with shiny texture steady and slide the glazed bowl with curved sides on.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Stack the glazed bowl with curved sides securely on top of the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.",
+    "With the right arm, lift the ceramic bowl and stack the glazed bowl with curved sides using the left arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.",
+    "Place the bowl with brown outer rim down and stack the dark inside bowl light blue outside on top.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the glazed bowl with curved sides on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl on top.",
+    "Arrange the bowl with shiny texture, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the glazed bowl with curved sides over it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set the small bowl with brown edge over the ceramic bowl to create the stack.",
+    "Pick up the blue bowl with slightly rounded base and set the dark inside bowl light blue outside on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the curved bowl light blue shade.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with slightly rounded base carefully on the ceramic bowl.",
+    "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.",
+    "Set down the glazed bowl with curved sides and drop the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick the bowl with brown outer rim, then stack the small bowl with brown edge on it.",
+    "Lift the ceramic bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick the dark inside bowl light blue outside, position the medium-sized bowl for holding food, and place it over the dark inside bowl light blue outside.",
+    "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the ceramic bowl using the right arm, then stack the small bowl with brown edge using the left arm."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode105.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode105.json
new file mode 100644
index 0000000000000000000000000000000000000000..69db5390d7c4fd562fc0c49c5c0729667817bab1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode105.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded bowl with light blue color, place the bowl with brown outer rim above, and let go.",
+    "With the left arm, lift the curved bowl light blue shade and stack the medium-sized bowl for holding food using the left arm.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl to stack above.",
+    "Set down the ceramic bowl and drop the blue bowl on top.",
+    "Lift the bowl with brown outer rim, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with brown outer rim.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "Hold the medium-sized bowl for holding food and stack the rounded bowl with light blue color neatly atop.",
+    "Stack the medium-sized bowl for holding food carefully over the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with shiny texture on top.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, position it, and place the blue bowl on top.",
+    "Lift the bowl with shiny texture, position the rounded bowl with light blue color above it, and stack.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Grab the bowl with brown outer rim, then carefully place the small bowl with brown edge on top.",
+    "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Position the curved bowl light blue shade with the arm, then set the glazed bowl with curved sides above it.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the bowl with shiny texture, then stack it on the medium-sized bowl for holding food.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick the rounded bowl with light blue color, position the bowl with shiny texture, and place it over the rounded bowl with light blue color.",
+    "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.",
+    "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides on top of the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.",
+    "Stack the curved bowl light blue shade securely on top of the dark inside bowl light blue outside.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the curved bowl light blue shade and position it neatly over the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Take the dark inside bowl light blue outside, place the bowl with shiny texture above, and let go.",
+    "With the left arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, grab the blue bowl, and set the blue bowl on the ceramic bowl.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, align the bowl with brown outer rim, and stack them.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the small bowl with brown edge on top.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the left arm.",
+    "Position the bowl with brown outer rim with the arm, then set the small bowl with brown edge above it.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the ceramic bowl, then stack it on the blue bowl.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Set the medium-sized bowl for holding food over the bowl with shiny texture to create the stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the ceramic bowl using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the glazed bowl with curved sides, position the rounded bowl with light blue color, and place it over the glazed bowl with curved sides.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.",
+    "Arrange the ceramic bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl with slightly rounded base.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the ceramic bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl on it.",
+    "Lift the bowl with brown outer rim and position it neatly over the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with brown outer rim directly above.",
+    "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the left arm."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode106.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode106.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e7546c706432d84d5072ccf71d36a76166d26ad
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode106.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the rounded bowl with light blue color carefully on the bowl with shiny texture.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Hold the small bowl with brown edge and stack the rounded bowl with light blue color neatly atop.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.",
+    "Pick the blue bowl, position the dark inside bowl light blue outside, and place it over the blue bowl.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, grab the ceramic bowl, and set the ceramic bowl on the blue bowl.",
+    "Grab the blue bowl, lift it up, position the ceramic bowl, and stack them.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Hold the dark inside bowl light blue outside steady and slide the rounded bowl with light blue color on.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Set down the ceramic bowl and drop the glazed bowl with curved sides on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the medium-sized bowl for holding food.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the glazed bowl with curved sides over it.",
+    "Align the dark inside bowl light blue outside and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade over the medium-sized bowl for holding food to create the stack.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the ceramic bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Stack the blue bowl carefully over the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "Align the dark inside bowl light blue outside over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture above it.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture on top of the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl above.",
+    "Place the blue bowl with slightly rounded base down and stack the glazed bowl with curved sides on top.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "Pick up the blue bowl and set the dark inside bowl light blue outside on it.",
+    "Stack the bowl with shiny texture securely on top of the medium-sized bowl for holding food.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Position the bowl with shiny texture and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the bowl with brown outer rim, then carefully place the curved bowl light blue shade on top.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Hold the dark inside bowl light blue outside and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.",
+    "Lift the blue bowl, then stack it on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl, and stack them.",
+    "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "the curved bowl light blue shade goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.",
+    "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl using the right arm.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Align the bowl with shiny texture over the rounded bowl with light blue color, then complete the stack.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with shiny texture on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the curved bowl light blue shade, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode107.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode107.json
new file mode 100644
index 0000000000000000000000000000000000000000..406fc551ff8889ffe8769dbc4f154f93077dd214
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode107.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with shiny texture over it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.",
+    "Align the medium-sized bowl for holding food over the rounded bowl with light blue color, then complete the stack.",
+    "Position the bowl with shiny texture with the arm, then set the medium-sized bowl for holding food above it.",
+    "Set the rounded bowl with light blue color over the blue bowl with slightly rounded base to create the stack.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Position the glazed bowl with curved sides and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Lift the blue bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Place the ceramic bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Take the blue bowl, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl with earthy brown trim on.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside above it.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the curved bowl light blue shade using the right arm.",
+    "Set down the ceramic bowl and drop the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grab the medium-sized bowl for holding food, position it, and place the small bowl with brown edge on top.",
+    "Pick up the blue bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Hold the small bowl with brown edge and stack the blue bowl neatly atop.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, set it down, then place the curved bowl light blue shade over it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.",
+    "Position the ceramic bowl with earthy brown trim carefully on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the bowl with shiny texture over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the blue bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Put the blue bowl first, then bring the small bowl with brown edge to stack above.",
+    "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Pick the small bowl with brown edge, position the bowl with brown outer rim, and place it over the small bowl with brown edge.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with shiny texture directly above.",
+    "Align the glazed bowl with curved sides and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Take the bowl with shiny texture, place the bowl with shiny texture above, and let go.",
+    "Lift the ceramic bowl and position it neatly over the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides, then stack it on the curved bowl light blue shade.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl on.",
+    "Take the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.",
+    "Place the blue bowl down and stack the blue bowl on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the small bowl with brown edge on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl on it.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with shiny texture on top.",
+    "Stack the curved bowl light blue shade securely on top of the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick the blue bowl, position on the table, and place the small bowl with brown edge over it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode108.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode108.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd0c4ab8961e0242e59702c4d5a03639ac0ed6f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode108.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl with slightly rounded base.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl using the right arm.",
+    "Set down the blue bowl with slightly rounded base and drop the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the blue bowl using the right arm.",
+    "Stack the ceramic bowl securely on top of the bowl with shiny texture.",
+    "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Position the rounded bowl with light blue color carefully on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the small bowl with brown edge.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Lift the small bowl with brown edge, position the medium-sized bowl for holding food above it, and stack.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Take the dark inside bowl light blue outside, align the curved bowl light blue shade, and stack them.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture with the arm, then set the medium-sized bowl for holding food above it.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Position the small bowl with brown edge, lift the ceramic bowl, and place the ceramic bowl on the small bowl with brown edge.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl above it.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Hold the medium-sized bowl for holding food and stack the rounded bowl with light blue color neatly atop.",
+    "Pick up the ceramic bowl, grab the blue bowl, and stack the blue bowl on the ceramic bowl.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with brown outer rim.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl over it.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down, then set the blue bowl above it.",
+    "Take the curved bowl light blue shade, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture on top of the small bowl with brown edge.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Set down the rounded bowl with light blue color and drop the rounded bowl with light blue color on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Put the dark inside bowl light blue outside first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the blue bowl using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with brown outer rim rests above.",
+    "Take the bowl with brown outer rim, place the dark inside bowl light blue outside above, and let go.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl on it.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.",
+    "Grab the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Hold the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Set the ceramic bowl with earthy brown trim down, then add the rounded bowl with light blue color over it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim above it.",
+    "Take the blue bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode109.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode109.json
new file mode 100644
index 0000000000000000000000000000000000000000..0219830b0b3cece8c59f616731101f17969f04ee
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode109.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Set down the small bowl with brown edge and drop the blue bowl with slightly rounded base on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Stack the blue bowl carefully over the ceramic bowl with earthy brown trim.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl above it.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the ceramic bowl using the left arm.",
+    "Set the medium-sized bowl for holding food over the blue bowl with slightly rounded base to create the stack.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Use the arm to place the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with shiny texture.",
+    "Place the blue bowl down, then set the bowl with shiny texture on top of the blue bowl.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the curved bowl light blue shade above it.",
+    "Align the glazed bowl with curved sides over the blue bowl with slightly rounded base, then complete the stack.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "Grasp the blue bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl, and set the blue bowl on the rounded bowl with light blue color.",
+    "Pick the curved bowl light blue shade, position the medium-sized bowl for holding food, and place it over the curved bowl light blue shade.",
+    "Position the small bowl with brown edge and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the medium-sized bowl for holding food, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides and set the medium-sized bowl for holding food on it.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Hold the curved bowl light blue shade and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Align the small bowl with brown edge and the curved bowl light blue shade, then stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Put the rounded bowl with light blue color first, then bring the glazed bowl with curved sides to stack above.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "Use the left arm for the ceramic bowl, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Set down the rounded bowl with light blue color and drop the glazed bowl with curved sides on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with brown outer rim over it.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl, and stack them.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade above it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the bowl with shiny texture using the left arm.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl rests above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base on top of the rounded bowl with light blue color.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick the curved bowl light blue shade, then stack the dark inside bowl light blue outside on it.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.",
+    "Position the glazed bowl with curved sides and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Pick up the medium-sized bowl for holding food and set the rounded bowl with light blue color on it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl.",
+    "Place the blue bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the small bowl with brown edge, lift the ceramic bowl, and place the ceramic bowl on the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Hold the blue bowl with slightly rounded base and stack the glazed bowl with curved sides neatly atop.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the blue bowl using the left arm.",
+    "Align the blue bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Arrange the blue bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with shiny texture on top.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Position the bowl with brown outer rim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with brown outer rim on.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode11.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode11.json
new file mode 100644
index 0000000000000000000000000000000000000000..6483d328d84cddfb60c4055279ceb8f21cd166c8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode11.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base on top of the glazed bowl with curved sides.",
+    "Set down the ceramic bowl with earthy brown trim and drop the medium-sized bowl for holding food on top.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the left arm.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl with earthy brown trim, and place it over the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Set the blue bowl with slightly rounded base down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with shiny texture and set the small bowl with brown edge on it.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Pick up the bowl with brown outer rim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Align the small bowl with brown edge over the bowl with shiny texture, then complete the stack.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the rounded bowl with light blue color carefully on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Take the bowl with shiny texture, position it, then stack the ceramic bowl directly above.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick up the small bowl with brown edge, place it down, then position the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Position the medium-sized bowl for holding food, lift the bowl with shiny texture, and place the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Pick the curved bowl light blue shade, then stack the dark inside bowl light blue outside on it.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the small bowl with brown edge, grab the ceramic bowl, and set the ceramic bowl on the small bowl with brown edge.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Position the blue bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the dark inside bowl light blue outside carefully over the ceramic bowl with earthy brown trim.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with shiny texture on.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the rounded bowl with light blue color over it.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "Set the bowl with brown outer rim over the glazed bowl with curved sides to create the stack.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Set down the medium-sized bowl for holding food and drop the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick the blue bowl, position the ceramic bowl, and place it over the blue bowl.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Set the glazed bowl with curved sides down, then add the bowl with shiny texture over it.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Align the curved bowl light blue shade and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Align the small bowl with brown edge over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with shiny texture.",
+    "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl securely on top of the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the glazed bowl with curved sides carefully on the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Lift the ceramic bowl, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with shiny texture above it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Position the small bowl with brown edge, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture above it.",
+    "Arrange the small bowl with brown edge, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl.",
+    "Take the blue bowl with slightly rounded base, place the rounded bowl with light blue color above, and let go.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Use the left arm for the ceramic bowl, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with brown outer rim over it.",
+    "Hold the blue bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set the dark inside bowl light blue outside over the glazed bowl with curved sides to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food on top of the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode110.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode110.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7e8dc4ca8ad234be9d5ad5f59844ac797d050da
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode110.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Align the rounded bowl with light blue color and the curved bowl light blue shade, then stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl, and place the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.",
+    "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.",
+    "Position the ceramic bowl carefully on the rounded bowl with light blue color.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with shiny texture.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Arrange the blue bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the glazed bowl with curved sides over it.",
+    "With the right arm, lift the bowl with shiny texture and stack the small bowl with brown edge using the right arm.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl, and set the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with shiny texture, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl rests above.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with shiny texture neatly atop.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Put the glazed bowl with curved sides first, then bring the bowl with shiny texture to stack above.",
+    "Stack the curved bowl light blue shade securely on top of the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "Position the dark inside bowl light blue outside and stack the bowl with brown outer rim securely onto it.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim and set the glazed bowl with curved sides on it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Place the bowl with shiny texture on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Align the dark inside bowl light blue outside and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "Take the bowl with brown outer rim, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "Position the small bowl with brown edge carefully on the rounded bowl with light blue color.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Set the bowl with shiny texture down, then add the dark inside bowl light blue outside over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "With the right arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the right arm.",
+    "Hold the small bowl with brown edge steady and slide the curved bowl light blue shade on.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with shiny texture on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Put the bowl with brown outer rim first, then bring the glazed bowl with curved sides to stack above.",
+    "Stack the blue bowl securely on top of the medium-sized bowl for holding food.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on it.",
+    "Position the ceramic bowl and stack the curved bowl light blue shade securely onto it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the small bowl with brown edge over it.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Pick up the curved bowl light blue shade and set the small bowl with brown edge on it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the ceramic bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl on top.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode111.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode111.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf16bc0a92cb90c53b91af31d70cf10cb7c3942
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode111.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the blue bowl with slightly rounded base and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the curved bowl light blue shade on top.",
+    "Stack the rounded bowl with light blue color securely on top of the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the dark inside bowl light blue outside on it.",
+    "Position the medium-sized bowl for holding food and stack the small bowl with brown edge securely onto it.",
+    "Set the rounded bowl with light blue color down, then add the rounded bowl with light blue color over it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl.",
+    "Take the small bowl with brown edge, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Take the bowl with shiny texture, place the curved bowl light blue shade above, and let go.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Stack the small bowl with brown edge carefully over the small bowl with brown edge.",
+    "Lift the ceramic bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on it.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Hold the glazed bowl with curved sides and stack the rounded bowl with light blue color neatly atop.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.",
+    "Set the dark inside bowl light blue outside over the dark inside bowl light blue outside to create the stack.",
+    "Lift the bowl with shiny texture, then stack it on the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Position the blue bowl carefully on the rounded bowl with light blue color.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Position the ceramic bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Arrange the small bowl with brown edge, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Align the blue bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the blue bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the small bowl with brown edge.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Pick up the small bowl with brown edge and set the dark inside bowl light blue outside on it.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the glazed bowl with curved sides over it.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Grab the rounded bowl with light blue color, then carefully place the glazed bowl with curved sides on top.",
+    "Stack the small bowl with brown edge carefully over the bowl with shiny texture.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the blue bowl using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Pick up the small bowl with brown edge, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the curved bowl light blue shade using the left arm.",
+    "Put the dark inside bowl light blue outside first, then bring the blue bowl to stack above.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick the blue bowl with slightly rounded base, position the rounded bowl with light blue color, and place it over the blue bowl with slightly rounded base.",
+    "Set the blue bowl over the blue bowl to create the stack.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with shiny texture.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Align the medium-sized bowl for holding food over the glazed bowl with curved sides, then complete the stack.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode112.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode112.json
new file mode 100644
index 0000000000000000000000000000000000000000..998a5c9782af9e380e1a8171e2faedf2aa93fc6a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode112.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Stack the curved bowl light blue shade carefully over the bowl with shiny texture.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl neatly atop.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with brown outer rim down and stack the curved bowl light blue shade on top.",
+    "Pick up the blue bowl and set the bowl with brown outer rim on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the glazed bowl with curved sides on top.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with shiny texture on.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the bowl with shiny texture, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the blue bowl using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge on top of the bowl with brown outer rim.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Set the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside to create the stack.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the blue bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on it.",
+    "Grab the ceramic bowl, then carefully place the bowl with brown outer rim on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with shiny texture.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the blue bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl.",
+    "Grab the medium-sized bowl for holding food, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the curved bowl light blue shade.",
+    "Position the ceramic bowl carefully on the blue bowl with slightly rounded base.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Take the curved bowl light blue shade, place the curved bowl light blue shade above, and let go.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with shiny texture and set the bowl with brown outer rim on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with brown outer rim on top.",
+    "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl on.",
+    "Set the rounded bowl with light blue color down, then add the bowl with brown outer rim over it.",
+    "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.",
+    "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with shiny texture above it, and stack.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Put the blue bowl first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick the ceramic bowl, position the ceramic bowl, and place it over the ceramic bowl.",
+    "Arrange the bowl with brown outer rim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Stack the small bowl with brown edge securely on top of the curved bowl light blue shade.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the curved bowl light blue shade and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the ceramic bowl, then stack it on the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode113.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode113.json
new file mode 100644
index 0000000000000000000000000000000000000000..6562eb21a18427cc3e856a9684450bb06d186c98
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode113.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl, align the glazed bowl with curved sides, and stack them.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Position the glazed bowl with curved sides, lift the small bowl with brown edge, and place the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the right arm.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides, position the bowl with brown outer rim above it, and stack.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the curved bowl light blue shade down, then set the blue bowl above it.",
+    "Take the blue bowl, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Hold the curved bowl light blue shade and stack the medium-sized bowl for holding food neatly atop.",
+    "Arrange the blue bowl with slightly rounded base, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the blue bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl on top.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.",
+    "Pick up the bowl with shiny texture, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Grab the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.",
+    "Pick up the curved bowl light blue shade and set the blue bowl with slightly rounded base on it.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Stack the bowl with shiny texture securely on top of the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color carefully on the curved bowl light blue shade.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the ceramic bowl using the right arm.",
+    "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.",
+    "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Align the medium-sized bowl for holding food over the bowl with brown outer rim, then complete the stack.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl on.",
+    "Set down the ceramic bowl and drop the curved bowl light blue shade on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Set the small bowl with brown edge over the glazed bowl with curved sides to create the stack.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the blue bowl with slightly rounded base using the right arm.",
+    "Place the curved bowl light blue shade down and stack the medium-sized bowl for holding food on top.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Put the blue bowl first, then bring the ceramic bowl to stack above.",
+    "Pick the ceramic bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Grab the blue bowl with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Stack the ceramic bowl securely on top of the dark inside bowl light blue outside.",
+    "Position the curved bowl light blue shade carefully on the glazed bowl with curved sides.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the ceramic bowl using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.",
+    "Use the arm to place the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Align the curved bowl light blue shade over the small bowl with brown edge, then complete the stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the curved bowl light blue shade on.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl with earthy brown trim on top.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl directly above.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the glazed bowl with curved sides.",
+    "Set the ceramic bowl with earthy brown trim over the rounded bowl with light blue color to create the stack.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode114.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode114.json
new file mode 100644
index 0000000000000000000000000000000000000000..45f995d76adf1b0a120306aecdc1dc2a59c3d53d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode114.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Arrange the glazed bowl with curved sides, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with shiny texture above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "Position the glazed bowl with curved sides and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Use the arm to place the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "Take the small bowl with brown edge, align the blue bowl, and stack them.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Place the blue bowl down, then set the ceramic bowl on top of the blue bowl.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.",
+    "Grab the ceramic bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl with slightly rounded base.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the bowl with shiny texture, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with shiny texture above it.",
+    "Set the ceramic bowl down, then add the curved bowl light blue shade over it.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Pick the curved bowl light blue shade, position the bowl with shiny texture, and place it over the curved bowl light blue shade.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.",
+    "Lift the ceramic bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "the bowl with brown outer rim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl with earthy brown trim.",
+    "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Position the ceramic bowl with the arm, then set the small bowl with brown edge above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with brown outer rim to create the stack.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the blue bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base on top of the curved bowl light blue shade.",
+    "Align the dark inside bowl light blue outside over the rounded bowl with light blue color, then complete the stack.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "With the right arm, lift the bowl with shiny texture and stack the ceramic bowl using the right arm.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the curved bowl light blue shade.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.",
+    "Set the blue bowl with slightly rounded base down, then add the small bowl with brown edge over it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Take the small bowl with brown edge, place the small bowl with brown edge above, and let go.",
+    "Place the curved bowl light blue shade down and stack the bowl with shiny texture on top.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Pick up the rounded bowl with light blue color and set the small bowl with brown edge on it.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the curved bowl light blue shade.",
+    "Hold the dark inside bowl light blue outside steady and slide the dark inside bowl light blue outside on.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode115.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode115.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c18b1f2ddb814b7b5f53c5e5aa8fefd454ddaa1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode115.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Stack the glazed bowl with curved sides carefully over the rounded bowl with light blue color.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Pick the blue bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with shiny texture above it, and stack.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "Position the medium-sized bowl for holding food and stack the glazed bowl with curved sides securely onto it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with the right arm.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the rounded bowl with light blue color, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "Position the medium-sized bowl for holding food carefully on the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, position the small bowl with brown edge, and place it over the bowl with brown outer rim.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Grab the ceramic bowl, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the blue bowl using the right arm.",
+    "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.",
+    "Pick up the dark inside bowl light blue outside, grab the blue bowl, and stack the blue bowl on the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the right arm.",
+    "Set the blue bowl down, then add the bowl with shiny texture over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, then stack it on the curved bowl light blue shade.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the bowl with brown outer rim, then carefully place the small bowl with brown edge on top.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl, and stack them.",
+    "the blue bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl, and place the blue bowl on the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the small bowl with brown edge.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl and set the dark inside bowl light blue outside on it.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl.",
+    "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with shiny texture over it.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Align the blue bowl over the small bowl with brown edge, then complete the stack.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.",
+    "Hold the small bowl with brown edge steady and slide the dark inside bowl light blue outside on.",
+    "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.",
+    "Use the left arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.",
+    "Take the ceramic bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Pick the ceramic bowl, then stack the small bowl with brown edge on it.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color above it.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Take the ceramic bowl, place the small bowl with brown edge above, and let go.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the bowl with brown outer rim down, then add the medium-sized bowl for holding food over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Stack the small bowl with brown edge securely on top of the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Align the rounded bowl with light blue color and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Position the small bowl with brown edge, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with shiny texture.",
+    "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode116.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode116.json
new file mode 100644
index 0000000000000000000000000000000000000000..6277350506213142d5caa493f473540070f9346f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode116.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the small bowl with brown edge, lift the blue bowl with the arm, and stack them.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Stack the ceramic bowl securely on top of the bowl with shiny texture.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl rests above.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim on top of the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the dark inside bowl light blue outside on top.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Align the small bowl with brown edge and the ceramic bowl, then stack the ceramic bowl on the small bowl with brown edge.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl with slightly rounded base.",
+    "Pick the small bowl with brown edge, position the medium-sized bowl for holding food, and place it over the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Grab the ceramic bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with shiny texture above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set the rounded bowl with light blue color over the bowl with brown outer rim to create the stack.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the bowl with shiny texture, position it, then stack the ceramic bowl directly above.",
+    "Hold the blue bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Lift the curved bowl light blue shade, then stack it on the glazed bowl with curved sides.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside above it.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Take the ceramic bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl on top.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the dark inside bowl light blue outside, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Hold the small bowl with brown edge steady and slide the curved bowl light blue shade on.",
+    "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside and set the dark inside bowl light blue outside on it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Arrange the medium-sized bowl for holding food, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with brown outer rim on it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Grab the blue bowl, position it, and place the curved bowl light blue shade on top.",
+    "Align the curved bowl light blue shade over the glazed bowl with curved sides, then complete the stack.",
+    "Align the curved bowl light blue shade and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Take the blue bowl, align the curved bowl light blue shade, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the curved bowl light blue shade above it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the right arm.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Hold the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl with slightly rounded base.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade above it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, grab the small bowl with brown edge, and set the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with brown outer rim on.",
+    "Position the medium-sized bowl for holding food and stack the dark inside bowl light blue outside securely onto it.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Pick up the blue bowl and set the rounded bowl with light blue color on it.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Arrange the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode117.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode117.json
new file mode 100644
index 0000000000000000000000000000000000000000..252bf21d350ad42ccc67cc26b2bdacaaaebf4cf1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode117.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Align the curved bowl light blue shade over the small bowl with brown edge, then complete the stack.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the bowl with brown outer rim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Take the dark inside bowl light blue outside, place the bowl with shiny texture above, and let go.",
+    "Set the bowl with shiny texture over the small bowl with brown edge to create the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside above it.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Align the dark inside bowl light blue outside and the blue bowl, then stack the blue bowl on the dark inside bowl light blue outside.",
+    "Position the small bowl with brown edge and stack the bowl with brown outer rim securely onto it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Lift the blue bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Set the bowl with shiny texture down, then add the small bowl with brown edge over it.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.",
+    "With the left arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.",
+    "Take the dark inside bowl light blue outside, align the rounded bowl with light blue color, and stack them.",
+    "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.",
+    "the blue bowl with slightly rounded base goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl directly above.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Pick up the medium-sized bowl for holding food and set the medium-sized bowl for holding food on it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Place the dark inside bowl light blue outside down and stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.",
+    "Align the blue bowl with slightly rounded base over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge on top.",
+    "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with shiny texture on top.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade above it.",
+    "Pick the bowl with shiny texture, position the blue bowl with slightly rounded base, and place it over the bowl with shiny texture.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge.",
+    "Set the small bowl with brown edge down, then add the medium-sized bowl for holding food over it.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Pick the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the curved bowl light blue shade on top of the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Stack the curved bowl light blue shade securely on top of the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the small bowl with brown edge over it.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Pick up the blue bowl with slightly rounded base and set the rounded bowl with light blue color on it.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode118.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode118.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b97697b6129f64cf8797f15b2d6c23ac18d523
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode118.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Lift the medium-sized bowl for holding food, grab the small bowl with brown edge, and set the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the ceramic bowl using the right arm.",
+    "Take the ceramic bowl, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.",
+    "Place the glazed bowl with curved sides down and stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl above.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, then stack the bowl with brown outer rim on top.",
+    "Pick the medium-sized bowl for holding food, position the curved bowl light blue shade, and place it over the medium-sized bowl for holding food.",
+    "Stack the curved bowl light blue shade securely on top of the dark inside bowl light blue outside.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture on top of the bowl with shiny texture.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Take the small bowl with brown edge, align the rounded bowl with light blue color, and stack them.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Take the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color on top.",
+    "Position the glazed bowl with curved sides, lift the blue bowl, and place the blue bowl on the glazed bowl with curved sides.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "With the left arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the right arm.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim, then stack it on the bowl with shiny texture.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade, position the blue bowl above it, and stack.",
+    "Pick the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on it.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color and position it neatly over the curved bowl light blue shade.",
+    "Position the medium-sized bowl for holding food carefully on the glazed bowl with curved sides.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Grab the bowl with shiny texture, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the blue bowl with slightly rounded base down and stack the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl on it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grab the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Hold the bowl with brown outer rim steady and slide the curved bowl light blue shade on.",
+    "Take the small bowl with brown edge, align the blue bowl with slightly rounded base, and stack them.",
+    "Put the bowl with brown outer rim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade above it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the curved bowl light blue shade, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "With the left arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Set the blue bowl over the bowl with shiny texture to create the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.",
+    "Align the small bowl with brown edge over the small bowl with brown edge, then complete the stack.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the glazed bowl with curved sides.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the small bowl with brown edge, then stack the bowl with shiny texture on it.",
+    "Take the bowl with shiny texture, place the glazed bowl with curved sides above, and let go.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color carefully over the medium-sized bowl for holding food.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode119.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode119.json
new file mode 100644
index 0000000000000000000000000000000000000000..432cb501b53cb569acf1a34f90bcbe4154b90ba8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode119.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the small bowl with brown edge.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Stack the glazed bowl with curved sides securely on top of the small bowl with brown edge.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge with the right arm.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Lift the glazed bowl with curved sides, position the medium-sized bowl for holding food above it, and stack.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with brown outer rim above it.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with slightly rounded base and stack the small bowl with brown edge securely onto it.",
+    "Hold the glazed bowl with curved sides steady and slide the dark inside bowl light blue outside on.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Put the ceramic bowl first, then bring the small bowl with brown edge to stack above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the dark inside bowl light blue outside carefully on the glazed bowl with curved sides.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl over it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Position the ceramic bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Arrange the small bowl with brown edge, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the glazed bowl with curved sides, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick the ceramic bowl, position the dark inside bowl light blue outside, and place it over the ceramic bowl.",
+    "Place the blue bowl with slightly rounded base down and stack the curved bowl light blue shade on top.",
+    "Place the small bowl with brown edge on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl above it.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the curved bowl light blue shade above it.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the right arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grab the ceramic bowl, then carefully place the ceramic bowl on top.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color on top of the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Take the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick the ceramic bowl, then stack the medium-sized bowl for holding food on it.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with brown outer rim on top.",
+    "Take the ceramic bowl with earthy brown trim, align the small bowl with brown edge, and stack them.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the medium-sized bowl for holding food using the right arm."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode12.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode12.json
new file mode 100644
index 0000000000000000000000000000000000000000..9881f48a7cef8ecdbf765af27f83edab74fd1b00
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode12.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Position the blue bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the ceramic bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim and stack the medium-sized bowl for holding food securely onto it.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick the bowl with shiny texture, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the glazed bowl with curved sides on top.",
+    "Put the medium-sized bowl for holding food first, then bring the small bowl with brown edge to stack above.",
+    "Position the bowl with brown outer rim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Set down the bowl with shiny texture and drop the glazed bowl with curved sides on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the left arm.",
+    "Place the rounded bowl with light blue color down and stack the curved bowl light blue shade on top.",
+    "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl and set the small bowl with brown edge on it.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the blue bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim on top of the bowl with shiny texture.",
+    "Use the arm to place the blue bowl, then stack the ceramic bowl on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the rounded bowl with light blue color above it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl with earthy brown trim.",
+    "Stack the ceramic bowl carefully over the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl on top.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Take the bowl with shiny texture, position it, then stack the rounded bowl with light blue color directly above.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with shiny texture above it.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with shiny texture on top.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, grab the bowl with shiny texture, and set the bowl with shiny texture on the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Take the ceramic bowl, align the blue bowl, and stack them.",
+    "Hold the blue bowl and stack the curved bowl light blue shade neatly atop.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Use the right arm for the blue bowl, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the blue bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Set down the blue bowl and drop the glazed bowl with curved sides on top.",
+    "With the right arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the left arm.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge and position it neatly over the curved bowl light blue shade.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl on it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the blue bowl, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base on top of the small bowl with brown edge.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the medium-sized bowl for holding food over it.",
+    "Arrange the blue bowl with slightly rounded base, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode120.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode120.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c5d641461ca42d5e96bde456c86900595faef9
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode120.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the ceramic bowl down, then set the curved bowl light blue shade on top of the ceramic bowl.",
+    "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place the blue bowl above, and let go.",
+    "Pick up the bowl with brown outer rim and set the bowl with shiny texture on it.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture on the surface, then stack the small bowl with brown edge above it.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl using the left arm.",
+    "Pick the ceramic bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.",
+    "Position the blue bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl.",
+    "Pick the ceramic bowl, position the bowl with brown outer rim, and place it over the ceramic bowl.",
+    "Position the bowl with brown outer rim carefully on the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the small bowl with brown edge, position it, and place the rounded bowl with light blue color on top.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Take the medium-sized bowl for holding food, align the bowl with brown outer rim, and stack them.",
+    "the ceramic bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Stack the bowl with brown outer rim securely on top of the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, grab the bowl with shiny texture, and set the bowl with shiny texture on the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the ceramic bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Arrange the rounded bowl with light blue color, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Align the blue bowl with slightly rounded base and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim on the surface, then stack the rounded bowl with light blue color above it.",
+    "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl using the left arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl with slightly rounded base, and place it over the medium-sized bowl for holding food.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, lift it up, position the small bowl with brown edge, and stack them.",
+    "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.",
+    "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.",
+    "Stack the bowl with brown outer rim carefully over the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down, then set the rounded bowl with light blue color above it.",
+    "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.",
+    "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the dark inside bowl light blue outside, position it, and place the dark inside bowl light blue outside on top.",
+    "Set the blue bowl over the curved bowl light blue shade to create the stack.",
+    "Pick up the dark inside bowl light blue outside, grab the blue bowl, and stack the blue bowl on the dark inside bowl light blue outside.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the small bowl with brown edge over it.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl on top of the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode121.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode121.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f448c2ad458c38ff8ce5d2fe5f721e097cd8c4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode121.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded bowl with light blue color, align the bowl with shiny texture, and stack them.",
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the rounded bowl with light blue color and stack the bowl with shiny texture neatly atop.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Grab the bowl with shiny texture, then carefully place the medium-sized bowl for holding food on top.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base carefully over the rounded bowl with light blue color.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the small bowl with brown edge on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl.",
+    "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Position the ceramic bowl with the arm, then set the blue bowl above it.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Put the dark inside bowl light blue outside first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Set the blue bowl down, then add the small bowl with brown edge over it.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl with slightly rounded base.",
+    "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge on top.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the rounded bowl with light blue color over it.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Position the bowl with shiny texture carefully on the blue bowl.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Align the blue bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the blue bowl, position the bowl with brown outer rim, and place it over the blue bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the ceramic bowl, position the small bowl with brown edge above it, and stack.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with shiny texture, and stack them.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl using the left arm.",
+    "Hold the curved bowl light blue shade and stack the bowl with brown outer rim neatly atop.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with shiny texture on.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the small bowl with brown edge, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with brown outer rim.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl on top of the dark inside bowl light blue outside.",
+    "Stack the bowl with shiny texture carefully over the bowl with brown outer rim.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl and position it neatly over the curved bowl light blue shade.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with brown outer rim above it.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Put the glazed bowl with curved sides first, then bring the small bowl with brown edge to stack above.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Align the dark inside bowl light blue outside and the curved bowl light blue shade, then stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.",
+    "Set the rounded bowl with light blue color over the curved bowl light blue shade to create the stack.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the medium-sized bowl for holding food, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl and set the small bowl with brown edge on it.",
+    "Arrange the rounded bowl with light blue color, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, set it down, then place the small bowl with brown edge over it.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Align the rounded bowl with light blue color over the ceramic bowl, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl, and place it over the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl rests above.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the curved bowl light blue shade using the left arm."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode122.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode122.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98811a5423cc4278c5303cb974ae1627451e1f6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the small bowl with brown edge above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Set the ceramic bowl down, then add the rounded bowl with light blue color over it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color on the surface, then stack the small bowl with brown edge above it.",
+    "Align the bowl with brown outer rim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the glazed bowl with curved sides over the bowl with shiny texture to create the stack.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade on top of the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food carefully on the small bowl with brown edge.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, place it, and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl.",
+    "Position the bowl with brown outer rim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Position the small bowl with brown edge with the arm, then set the small bowl with brown edge above it.",
+    "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Use the right arm for the ceramic bowl, place it, and stack the bowl with shiny texture with the left arm.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl over it.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Put the medium-sized bowl for holding food first, then bring the small bowl with brown edge to stack above.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Pick the bowl with brown outer rim, position the small bowl with brown edge, and place it over the bowl with brown outer rim.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Position the small bowl with brown edge carefully on the dark inside bowl light blue outside.",
+    "Pick the small bowl with brown edge, then stack the bowl with shiny texture on it.",
+    "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the medium-sized bowl for holding food using the left arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Pick up the medium-sized bowl for holding food, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Arrange the blue bowl with slightly rounded base, lift the small bowl with brown edge with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "the ceramic bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Set down the ceramic bowl and drop the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl, position it, and place the small bowl with brown edge on top.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Stack the bowl with shiny texture securely on top of the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the glazed bowl with curved sides, align the bowl with brown outer rim, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the curved bowl light blue shade over it.",
+    "Hold the ceramic bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with shiny texture to stack above.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode123.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode123.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b03fd10f717a6ed6e2e1854732c473197f82b78
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode123.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl over it.",
+    "Put the bowl with brown outer rim first, then bring the small bowl with brown edge to stack above.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the glazed bowl with curved sides on it.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, position the blue bowl with slightly rounded base, and place it over the ceramic bowl.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge on top.",
+    "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the bowl with brown outer rim, then carefully place the rounded bowl with light blue color on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl with the arm, then set the small bowl with brown edge above it.",
+    "the medium-sized bowl for holding food goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Place the bowl with shiny texture down and stack the small bowl with brown edge on top.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl above it, and stack.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, lift it up, position the small bowl with brown edge, and stack them.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, place the glazed bowl with curved sides above, and let go.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Set the blue bowl down, then add the rounded bowl with light blue color over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on it.",
+    "Hold the glazed bowl with curved sides and stack the rounded bowl with light blue color neatly atop.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl above.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with the left arm.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl.",
+    "Set the dark inside bowl light blue outside over the glazed bowl with curved sides to create the stack.",
+    "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "With the right arm, lift the ceramic bowl and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl with earthy brown trim on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim on top.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the rounded bowl with light blue color, position it, and place the ceramic bowl on top.",
+    "Grab the blue bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with shiny texture above it.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the ceramic bowl and position it neatly over the bowl with brown outer rim.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Take the bowl with brown outer rim, align the bowl with shiny texture, and stack them.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl down and stack the dark inside bowl light blue outside on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with brown outer rim.",
+    "Pick up the bowl with brown outer rim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl.",
+    "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.",
+    "Lift the small bowl with brown edge, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Hold the curved bowl light blue shade and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl directly above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the curved bowl light blue shade above.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.",
+    "Set the ceramic bowl over the bowl with shiny texture to create the stack."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode124.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode124.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b99b71ab9f5fdca737c4e99bf41b522aec9c6ab
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode124.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Take the bowl with shiny texture, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Place the blue bowl down, then set the bowl with brown outer rim on top of the blue bowl.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with shiny texture on.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside above it.",
+    "the blue bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Place the rounded bowl with light blue color down and stack the rounded bowl with light blue color on top.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl on top.",
+    "Lift the blue bowl and position it neatly over the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Align the curved bowl light blue shade and the blue bowl, then stack the blue bowl on the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the left arm.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Stack the medium-sized bowl for holding food carefully over the blue bowl.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl securely onto it.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Put the bowl with shiny texture first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "Pick the curved bowl light blue shade, then stack the rounded bowl with light blue color on it.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl on top of the curved bowl light blue shade.",
+    "Take the blue bowl, align the bowl with brown outer rim, and stack them.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl on top.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl with earthy brown trim on.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the glazed bowl with curved sides.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl above it.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Grab the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on top.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl on top.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl with slightly rounded base, place the glazed bowl with curved sides above, and let go.",
+    "With the right arm, lift the blue bowl and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Set the curved bowl light blue shade over the medium-sized bowl for holding food to create the stack.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.",
+    "Position the blue bowl and stack the bowl with brown outer rim securely onto it.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the rounded bowl with light blue color, position the small bowl with brown edge above it, and stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Arrange the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the bowl with brown outer rim, position it, and place the medium-sized bowl for holding food on top.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode125.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode125.json
new file mode 100644
index 0000000000000000000000000000000000000000..59560da12069a6d58ec98bc0aaa68bdf1203ce08
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode125.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top.",
+    "Place the rounded bowl with light blue color on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with shiny texture.",
+    "Set the rounded bowl with light blue color over the ceramic bowl to create the stack.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the left arm.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the bowl with brown outer rim and position it neatly over the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Take the bowl with shiny texture, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Take the medium-sized bowl for holding food, align the curved bowl light blue shade, and stack them.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Use the right arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.",
+    "Take the bowl with brown outer rim, place the blue bowl with slightly rounded base above, and let go.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl, and stack them.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Arrange the ceramic bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl over it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl, and stack the ceramic bowl on the curved bowl light blue shade.",
+    "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl on.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Pick the glazed bowl with curved sides, position the dark inside bowl light blue outside, and place it over the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl above it.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Align the curved bowl light blue shade over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the left arm.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Take the small bowl with brown edge, place the bowl with shiny texture above, and let go.",
+    "Set down the blue bowl and drop the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl above it, and stack.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Arrange the small bowl with brown edge, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the ceramic bowl over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl above.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Set the curved bowl light blue shade down, then add the dark inside bowl light blue outside over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl on top of the glazed bowl with curved sides.",
+    "Hold the glazed bowl with curved sides and stack the glazed bowl with curved sides neatly atop.",
+    "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode126.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode126.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e0f578235834c9468075fb0bf8fe0b8de8695c7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode126.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture, then stack it on the medium-sized bowl for holding food.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Hold the rounded bowl with light blue color and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl on top.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the small bowl with brown edge over it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the ceramic bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Set the blue bowl over the glazed bowl with curved sides to create the stack.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the small bowl with brown edge over it.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with shiny texture on top.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with shiny texture.",
+    "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the ceramic bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl with slightly rounded base.",
+    "Align the curved bowl light blue shade and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Arrange the ceramic bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge carefully on the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge above it.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl using the left arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Align the bowl with brown outer rim over the rounded bowl with light blue color, then complete the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the left arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge, then stack it on the curved bowl light blue shade.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Pick the bowl with shiny texture, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Set the bowl with brown outer rim over the curved bowl light blue shade to create the stack.",
+    "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on it.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Take the blue bowl, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Set down the blue bowl and drop the medium-sized bowl for holding food on top.",
+    "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Stack the ceramic bowl carefully over the dark inside bowl light blue outside.",
+    "Align the ceramic bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the blue bowl with slightly rounded base above, and let go.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the ceramic bowl, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the bowl with shiny texture, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with brown outer rim.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with shiny texture on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the ceramic bowl using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Take the dark inside bowl light blue outside, align the rounded bowl with light blue color, and stack them.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color on top of the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the ceramic bowl and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with brown outer rim.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode127.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode127.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7528b0e3c927f429b4d5f9b808ce95e844ce3ad
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode127.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with brown outer rim on top.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base above it.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the left arm.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Hold the small bowl with brown edge steady and slide the bowl with shiny texture on.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the blue bowl with slightly rounded base, position the glazed bowl with curved sides above it, and stack.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the small bowl with brown edge, align the ceramic bowl, and stack them.",
+    "Pick up the curved bowl light blue shade, place it down, then position the small bowl with brown edge on top.",
+    "Set the blue bowl over the bowl with brown outer rim to create the stack.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "Position the bowl with shiny texture carefully on the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl, place the bowl with shiny texture above, and let go.",
+    "Grab the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Take the ceramic bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl to stack above.",
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Use the arm to place the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set down the ceramic bowl and drop the curved bowl light blue shade on top.",
+    "Align the ceramic bowl with earthy brown trim over the medium-sized bowl for holding food, then complete the stack.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the ceramic bowl, set it down, then place the small bowl with brown edge over it.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the dark inside bowl light blue outside, align the bowl with brown outer rim, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Align the bowl with shiny texture and the blue bowl, then stack the blue bowl on the bowl with shiny texture.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Hold the ceramic bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Pick up the rounded bowl with light blue color and set the bowl with shiny texture on it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "Position the blue bowl carefully on the glazed bowl with curved sides.",
+    "Lift the blue bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the glazed bowl with curved sides, place the dark inside bowl light blue outside above, and let go.",
+    "Grab the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the curved bowl light blue shade.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode128.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode128.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa2df13da73d55fd36b993dad74c8539c826cf1c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode128.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl neatly atop.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl on.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the dark inside bowl light blue outside using the right arm.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "the bowl with shiny texture goes at the bottom, the small bowl with brown edge rests above.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl carefully on the small bowl with brown edge.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the glazed bowl with curved sides above it.",
+    "Stack the dark inside bowl light blue outside carefully over the rounded bowl with light blue color.",
+    "Set the dark inside bowl light blue outside over the curved bowl light blue shade to create the stack.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl using the right arm.",
+    "Pick the bowl with shiny texture, then stack the blue bowl with slightly rounded base on it.",
+    "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the blue bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Align the curved bowl light blue shade and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Stack the blue bowl securely on top of the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color on top of the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Set the dark inside bowl light blue outside down, then add the ceramic bowl with earthy brown trim over it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the rounded bowl with light blue color and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the small bowl with brown edge, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the ceramic bowl, place it, and stack the blue bowl on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl with earthy brown trim on.",
+    "With the right arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "the medium-sized bowl for holding food goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.",
+    "Align the bowl with shiny texture over the rounded bowl with light blue color, then complete the stack.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl using the right arm.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Pick the bowl with brown outer rim, position the bowl with shiny texture, and place it over the bowl with brown outer rim.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the right arm.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the curved bowl light blue shade over it.",
+    "Place the blue bowl down, then set the curved bowl light blue shade on top of the blue bowl.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl on it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode129.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode129.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b71c7c73f6faf9d10d659650451beab77014918
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode129.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the glazed bowl with curved sides on top.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with shiny texture and position it neatly over the glazed bowl with curved sides.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.",
+    "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside on top of the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Arrange the small bowl with brown edge, lift the ceramic bowl with the arm, and stack them.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the small bowl with brown edge.",
+    "Stack the ceramic bowl securely on top of the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Stack the blue bowl carefully over the rounded bowl with light blue color.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Grab the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, align the blue bowl, and stack them.",
+    "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "With the right arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the right arm.",
+    "Pick the blue bowl, position the bowl with shiny texture, and place it over the blue bowl.",
+    "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set the ceramic bowl over the bowl with shiny texture to create the stack.",
+    "Position the blue bowl carefully on the rounded bowl with light blue color.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick up the blue bowl with slightly rounded base and set the rounded bowl with light blue color on it.",
+    "Align the small bowl with brown edge over the bowl with shiny texture, then complete the stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Grab the bowl with shiny texture, set it down, then place the small bowl with brown edge over it.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the right arm.",
+    "Set the bowl with brown outer rim down, then add the curved bowl light blue shade over it.",
+    "Set down the ceramic bowl and drop the small bowl with brown edge on top.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the small bowl with brown edge above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl to stack above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with shiny texture, and set the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color carefully over the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Take the ceramic bowl, place the bowl with shiny texture above, and let go.",
+    "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl over it.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with brown outer rim above.",
+    "With the right arm, lift the blue bowl and stack the small bowl with brown edge using the right arm.",
+    "Pick the small bowl with brown edge, position the ceramic bowl with earthy brown trim, and place it over the small bowl with brown edge.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Set the glazed bowl with curved sides over the bowl with brown outer rim to create the stack.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, position it, then stack the dark inside bowl light blue outside directly above.",
+    "the blue bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the curved bowl light blue shade and set the glazed bowl with curved sides on it.",
+    "Align the bowl with shiny texture over the small bowl with brown edge, then complete the stack.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Hold the medium-sized bowl for holding food steady and slide the curved bowl light blue shade on.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl using the right arm.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode13.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode13.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b269fb54d30d67a71b1a032bfd7648186ec130
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode13.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge and position it neatly over the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Set down the blue bowl and drop the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the blue bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the blue bowl.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with brown outer rim.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the ceramic bowl, then stack it on the small bowl with brown edge.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "Position the bowl with brown outer rim, lift the blue bowl, and place the blue bowl on the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the curved bowl light blue shade.",
+    "Position the blue bowl and stack the blue bowl securely onto it.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl with slightly rounded base on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl rests above.",
+    "With the right arm, lift the bowl with brown outer rim and stack the small bowl with brown edge using the left arm.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the rounded bowl with light blue color above it.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the blue bowl, then stack the small bowl with brown edge on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, align the blue bowl, and stack them.",
+    "Lift the bowl with brown outer rim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick up the bowl with shiny texture and set the bowl with shiny texture on it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Set down the ceramic bowl with earthy brown trim and drop the rounded bowl with light blue color on top.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.",
+    "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Set the blue bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl.",
+    "Pick the curved bowl light blue shade, then stack the curved bowl light blue shade on it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.",
+    "Hold the curved bowl light blue shade steady and slide the small bowl with brown edge on.",
+    "Pick the ceramic bowl, position the curved bowl light blue shade, and place it over the ceramic bowl.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color above it.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with shiny texture on top.",
+    "Arrange the curved bowl light blue shade, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Pick up the bowl with brown outer rim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the glazed bowl with curved sides using the left arm.",
+    "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Use the right arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Lift the small bowl with brown edge, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick up the small bowl with brown edge and set the medium-sized bowl for holding food on it.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode130.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode130.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfdd5b578c393e0f2ffc06cbddabfa4f8edcbd3
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode130.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the blue bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Put the bowl with shiny texture first, then bring the small bowl with brown edge to stack above.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with brown outer rim on top.",
+    "Set the bowl with shiny texture down, then add the dark inside bowl light blue outside over it.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Pick the rounded bowl with light blue color, position the bowl with shiny texture, and place it over the rounded bowl with light blue color.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the curved bowl light blue shade.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the glazed bowl with curved sides, position the bowl with brown outer rim above it, and stack.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the dark inside bowl light blue outside above it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the right arm.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the blue bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with shiny texture over it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Set the bowl with shiny texture over the glazed bowl with curved sides to create the stack.",
+    "Stack the small bowl with brown edge securely on top of the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Place the blue bowl down and stack the rounded bowl with light blue color on top.",
+    "Put the small bowl with brown edge first, then bring the rounded bowl with light blue color to stack above.",
+    "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.",
+    "Align the rounded bowl with light blue color and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Pick the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with shiny texture directly above.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the blue bowl with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base on top of the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl above it.",
+    "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl with slightly rounded base.",
+    "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.",
+    "Set down the ceramic bowl and drop the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl, position it, and place the bowl with brown outer rim on top.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with shiny texture over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl with earthy brown trim on it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with brown outer rim on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Take the blue bowl, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl.",
+    "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl on top.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl using the right arm.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Pick the bowl with shiny texture, position on the table, and place the curved bowl light blue shade over it.",
+    "Arrange the glazed bowl with curved sides, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode131.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode131.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb530526ea68e301956391d43dca228a961c3c05
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode131.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Stack the glazed bowl with curved sides securely on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Take the ceramic bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the blue bowl using the right arm.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Arrange the ceramic bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl on top of the curved bowl light blue shade.",
+    "Align the glazed bowl with curved sides and the blue bowl, then stack the blue bowl on the glazed bowl with curved sides.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Align the medium-sized bowl for holding food over the curved bowl light blue shade, then complete the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Take the curved bowl light blue shade, align the rounded bowl with light blue color, and stack them.",
+    "With the left arm, lift the blue bowl and stack the dark inside bowl light blue outside using the right arm.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.",
+    "Position the ceramic bowl carefully on the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food over the curved bowl light blue shade to create the stack.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the blue bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "the ceramic bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick the ceramic bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the blue bowl, lay it down, and stack the curved bowl light blue shade on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the ceramic bowl using the right arm.",
+    "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl.",
+    "Lift the small bowl with brown edge and position it neatly over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with brown outer rim above it, and stack.",
+    "Place the bowl with shiny texture down and stack the small bowl with brown edge on top.",
+    "Position the small bowl with brown edge, lift the bowl with shiny texture, and place the bowl with shiny texture on the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, place the rounded bowl with light blue color above, and let go.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Align the ceramic bowl over the rounded bowl with light blue color, then complete the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the bowl with brown outer rim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl using the right arm.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl.",
+    "Position the ceramic bowl with earthy brown trim carefully on the rounded bowl with light blue color.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode132.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode132.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c95a53041c6d1352fdd210d449942cc841192b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode132.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bowl with shiny texture, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with brown outer rim.",
+    "Take the blue bowl, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the small bowl with brown edge on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Pick up the blue bowl and set the curved bowl light blue shade on it.",
+    "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with brown outer rim.",
+    "Place the small bowl with brown edge on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Hold the ceramic bowl steady and slide the curved bowl light blue shade on.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Align the blue bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the small bowl with brown edge.",
+    "Grab the blue bowl, then carefully place the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the ceramic bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the medium-sized bowl for holding food and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl above it, and stack.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the blue bowl, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the bowl with shiny texture using the right arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the medium-sized bowl for holding food over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set the bowl with brown outer rim over the dark inside bowl light blue outside to create the stack.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Lift the bowl with brown outer rim, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food down and stack the medium-sized bowl for holding food on top.",
+    "Place the curved bowl light blue shade down, then set the curved bowl light blue shade above it.",
+    "Use the left arm for the blue bowl, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Take the bowl with shiny texture, align the blue bowl, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick the blue bowl, position the rounded bowl with light blue color, and place it over the blue bowl.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Position the dark inside bowl light blue outside carefully on the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl on it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Position the blue bowl with the arm, then set the glazed bowl with curved sides above it.",
+    "Stack the ceramic bowl carefully over the blue bowl.",
+    "Place the rounded bowl with light blue color on the surface, then stack the rounded bowl with light blue color above it.",
+    "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Lift the blue bowl, lay it down, and stack the curved bowl light blue shade on top.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Align the small bowl with brown edge over the blue bowl, then complete the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the small bowl with brown edge over it.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "With the left arm, lift the blue bowl and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set the glazed bowl with curved sides down, then add the small bowl with brown edge over it.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Arrange the curved bowl light blue shade, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Pick the glazed bowl with curved sides, then stack the curved bowl light blue shade on it.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "Place the medium-sized bowl for holding food down and stack the rounded bowl with light blue color on top.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.",
+    "Set down the blue bowl and drop the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with shiny texture.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim, and place it over the medium-sized bowl for holding food.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Pick up the blue bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with brown outer rim with the right arm."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode133.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode133.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f8285c00596da10f22aa070d8eb88a5b8a80cf
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode133.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.",
+    "With the left arm, lift the curved bowl light blue shade and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick up the dark inside bowl light blue outside, grab the blue bowl, and stack the blue bowl on the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Grab the blue bowl, position it, and place the ceramic bowl on top.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.",
+    "Stack the small bowl with brown edge securely on top of the rounded bowl with light blue color.",
+    "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with shiny texture, and set the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with brown outer rim on.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Set down the ceramic bowl and drop the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Position the blue bowl with slightly rounded base carefully on the ceramic bowl.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick up the bowl with brown outer rim and set the bowl with shiny texture on it.",
+    "Place the rounded bowl with light blue color down and stack the small bowl with brown edge on top.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with shiny texture, then complete the stack.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl above.",
+    "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, position the small bowl with brown edge above it, and stack.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade above it.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Position the curved bowl light blue shade, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Put the rounded bowl with light blue color first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Set the blue bowl with slightly rounded base over the medium-sized bowl for holding food to create the stack.",
+    "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Grab the bowl with brown outer rim, then stack the curved bowl light blue shade on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the right arm.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Stack the ceramic bowl securely on top of the blue bowl with slightly rounded base.",
+    "Take the blue bowl, place it, and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Take the bowl with shiny texture, align the rounded bowl with light blue color, and stack them.",
+    "Hold the ceramic bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Set down the ceramic bowl and drop the rounded bowl with light blue color on top.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food carefully on the glazed bowl with curved sides.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the dark inside bowl light blue outside on it.",
+    "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.",
+    "Align the medium-sized bowl for holding food over the rounded bowl with light blue color, then complete the stack.",
+    "Pick the bowl with brown outer rim, position the dark inside bowl light blue outside, and place it over the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the bowl with brown outer rim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Set the blue bowl down, then add the ceramic bowl over it.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Stack the medium-sized bowl for holding food carefully over the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim above it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the ceramic bowl using the right arm.",
+    "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the small bowl with brown edge.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode134.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode134.json
new file mode 100644
index 0000000000000000000000000000000000000000..515b807a3de2f761abc5e16a622ea51637a490d8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode134.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the medium-sized bowl for holding food and the curved bowl light blue shade, then stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Put the bowl with shiny texture first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the curved bowl light blue shade, then stack the small bowl with brown edge on it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Position the glazed bowl with curved sides and stack the bowl with brown outer rim securely onto it.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with shiny texture over it.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge above it.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Arrange the small bowl with brown edge, lift the blue bowl with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "Take the small bowl with brown edge, place the bowl with shiny texture above, and let go.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the ceramic bowl using the right arm.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim, and place it over the medium-sized bowl for holding food.",
+    "Set the blue bowl over the rounded bowl with light blue color to create the stack.",
+    "Hold the blue bowl steady and slide the small bowl with brown edge on.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the blue bowl with slightly rounded base, align the curved bowl light blue shade, and stack them.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl on top.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Align the ceramic bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the bowl with shiny texture, then stack the glazed bowl with curved sides on it.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl on top.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge on top of the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl above it.",
+    "Position the blue bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the curved bowl light blue shade, set it down, then place the medium-sized bowl for holding food over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, then stack it on the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Grab the medium-sized bowl for holding food, position it, and place the curved bowl light blue shade on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with brown outer rim, then complete the stack.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Arrange the glazed bowl with curved sides, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the right arm.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Pick the rounded bowl with light blue color, position the rounded bowl with light blue color, and place it over the rounded bowl with light blue color.",
+    "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Take the blue bowl with slightly rounded base, align the bowl with shiny texture, and stack them.",
+    "Lift the glazed bowl with curved sides, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Take the ceramic bowl, place it, and stack the small bowl with brown edge on top.",
+    "Position the ceramic bowl carefully on the ceramic bowl.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, position the bowl with shiny texture above it, and stack."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode135.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode135.json
new file mode 100644
index 0000000000000000000000000000000000000000..db80ff8d75c87caa2698eb86f2f9f8587e9f2aa9
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode135.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl, and place the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the glazed bowl with curved sides over it.",
+    "Grab the ceramic bowl, then stack the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Put the bowl with shiny texture first, then bring the glazed bowl with curved sides to stack above.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Pick the dark inside bowl light blue outside, then stack the small bowl with brown edge on it.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Position the dark inside bowl light blue outside with the arm, then set the rounded bowl with light blue color above it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, then carefully place the bowl with brown outer rim on top.",
+    "Place the ceramic bowl down, then set the ceramic bowl above it.",
+    "Position the bowl with brown outer rim and stack the glazed bowl with curved sides securely onto it.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the right arm.",
+    "Lift the glazed bowl with curved sides, position the ceramic bowl above it, and stack.",
+    "Lift the rounded bowl with light blue color, then stack it on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the small bowl with brown edge above.",
+    "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the small bowl with brown edge.",
+    "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.",
+    "the blue bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl on top.",
+    "Pick the rounded bowl with light blue color, position the medium-sized bowl for holding food, and place it over the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl on top.",
+    "Hold the ceramic bowl steady and slide the rounded bowl with light blue color on.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Position the curved bowl light blue shade, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Grab the blue bowl with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.",
+    "Pick the blue bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl to stack above.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl using the right arm.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the small bowl with brown edge, place the glazed bowl with curved sides above, and let go.",
+    "Pick the dark inside bowl light blue outside, then stack the small bowl with brown edge on it.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Align the blue bowl and the blue bowl, then stack the blue bowl on the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim, then carefully place the curved bowl light blue shade on top.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "With the right arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the rounded bowl with light blue color, position the small bowl with brown edge above it, and stack.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with shiny texture.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Position the rounded bowl with light blue color carefully on the small bowl with brown edge.",
+    "Place the bowl with brown outer rim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the rounded bowl with light blue color.",
+    "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the glazed bowl with curved sides and set the bowl with brown outer rim on it.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the medium-sized bowl for holding food, position it, then stack the small bowl with brown edge directly above.",
+    "Set the glazed bowl with curved sides down, then add the bowl with shiny texture over it.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the blue bowl, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "Pick up the curved bowl light blue shade, place it down, then position the small bowl with brown edge on top.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Set the curved bowl light blue shade over the blue bowl to create the stack.",
+    "Position the glazed bowl with curved sides, lift the ceramic bowl, and place the ceramic bowl on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode136.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode136.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b253bc159e7358c7441e087a7a9f7479decb4c5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode136.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.",
+    "Align the dark inside bowl light blue outside and the curved bowl light blue shade, then stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "With the right arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the right arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Position the glazed bowl with curved sides with the arm, then set the curved bowl light blue shade above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.",
+    "Position the small bowl with brown edge carefully on the blue bowl.",
+    "Set the bowl with brown outer rim down, then add the blue bowl over it.",
+    "Place the bowl with brown outer rim down, then set the blue bowl above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with shiny texture on top.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with shiny texture neatly atop.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with shiny texture on top.",
+    "the rounded bowl with light blue color goes at the bottom, the curved bowl light blue shade rests above.",
+    "Place the small bowl with brown edge on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl on.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Arrange the glazed bowl with curved sides, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl with slightly rounded base.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Lift the blue bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Take the medium-sized bowl for holding food, place the small bowl with brown edge above, and let go.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Take the bowl with shiny texture, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl, and stack them.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl on top of the curved bowl light blue shade.",
+    "Align the ceramic bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Set down the medium-sized bowl for holding food and drop the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "With the right arm, lift the curved bowl light blue shade and stack the curved bowl light blue shade using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Set the ceramic bowl down, then add the small bowl with brown edge over it.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, align the blue bowl with slightly rounded base, and stack them.",
+    "Align the glazed bowl with curved sides over the blue bowl with slightly rounded base, then complete the stack.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the blue bowl, then carefully place the small bowl with brown edge on top.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Place the rounded bowl with light blue color on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Pick the dark inside bowl light blue outside, then stack the small bowl with brown edge on it.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with brown outer rim over it.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick up the blue bowl and set the bowl with brown outer rim on it.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Set the blue bowl with slightly rounded base over the bowl with shiny texture to create the stack.",
+    "Pick the ceramic bowl, position the blue bowl with slightly rounded base, and place it over the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Take the rounded bowl with light blue color, place the bowl with brown outer rim above, and let go.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl using the right arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode137.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode137.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5eba656bbf79a870618213e000908a0c533f000
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode137.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Set down the blue bowl and drop the medium-sized bowl for holding food on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, align the small bowl with brown edge, and stack them.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the right arm.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl on it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with brown outer rim rests above.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl directly above.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Lift the ceramic bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl over it.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Pick the ceramic bowl, position the dark inside bowl light blue outside, and place it over the ceramic bowl.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the medium-sized bowl for holding food, then carefully place the small bowl with brown edge on top.",
+    "Pick the glazed bowl with curved sides, then stack the curved bowl light blue shade on it.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.",
+    "Place the small bowl with brown edge on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.",
+    "Pick up the curved bowl light blue shade, place it down, then position the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl.",
+    "Take the bowl with brown outer rim, align the rounded bowl with light blue color, and stack them.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Stack the ceramic bowl carefully over the rounded bowl with light blue color.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl on.",
+    "Set the bowl with shiny texture over the bowl with brown outer rim to create the stack.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the right arm.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl with earthy brown trim and set the medium-sized bowl for holding food on it.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Lift the curved bowl light blue shade, position the bowl with shiny texture above it, and stack.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "the curved bowl light blue shade goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Use the arm to place the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Take the curved bowl light blue shade, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Hold the blue bowl and stack the ceramic bowl neatly atop.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the curved bowl light blue shade over it.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, then stack the curved bowl light blue shade on it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.",
+    "Place the small bowl with brown edge down and stack the dark inside bowl light blue outside on top.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.",
+    "Align the curved bowl light blue shade over the glazed bowl with curved sides, then complete the stack."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode138.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode138.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae1487fdd7fd1c6e7fe276e3db649ad48bf70781
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode138.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the blue bowl with slightly rounded base carefully over the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the curved bowl light blue shade above.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color above it.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the small bowl with brown edge over it.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the right arm.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl, and place it over the medium-sized bowl for holding food.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, then stack it on the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with shiny texture.",
+    "Set the ceramic bowl with earthy brown trim over the rounded bowl with light blue color to create the stack.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the blue bowl on it.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it.",
+    "Position the ceramic bowl carefully on the rounded bowl with light blue color.",
+    "Hold the bowl with shiny texture and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the bowl with brown outer rim and set the glazed bowl with curved sides on it.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the glazed bowl with curved sides, position it, and place the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the curved bowl light blue shade.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Take the blue bowl, align the bowl with shiny texture, and stack them.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the curved bowl light blue shade, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the ceramic bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.",
+    "With the left arm, lift the blue bowl and stack the bowl with brown outer rim using the right arm.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides and position it neatly over the small bowl with brown edge.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Put the blue bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Pick up the blue bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the rounded bowl with light blue color, then stack the bowl with shiny texture on it.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the bowl with brown outer rim and set the bowl with shiny texture on it.",
+    "Set the blue bowl down, then add the blue bowl over it.",
+    "Grab the blue bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "Grab the blue bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Stack the bowl with shiny texture securely on top of the curved bowl light blue shade.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the blue bowl using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the curved bowl light blue shade, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Grab the blue bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode139.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode139.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c3d91d47c944923c8aa53874a1219ed697ae1a6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode139.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the rounded bowl with light blue color over it.",
+    "Grab the blue bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "Lift the bowl with shiny texture, then stack it on the small bowl with brown edge.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Position the curved bowl light blue shade, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Take the bowl with shiny texture, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the bowl with brown outer rim securely on top of the curved bowl light blue shade.",
+    "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Arrange the bowl with shiny texture, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the right arm.",
+    "Hold the blue bowl with slightly rounded base and stack the glazed bowl with curved sides neatly atop.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl on top.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with brown outer rim.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above.",
+    "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Take the medium-sized bowl for holding food, place the blue bowl with slightly rounded base above, and let go.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with brown outer rim.",
+    "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick the blue bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl to stack above.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl using the right arm.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside on top of the blue bowl.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl over it.",
+    "Take the blue bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the small bowl with brown edge over it.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Set down the rounded bowl with light blue color and drop the dark inside bowl light blue outside on top.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the glazed bowl with curved sides and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the curved bowl light blue shade using the right arm.",
+    "Stack the blue bowl securely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Set the bowl with brown outer rim over the blue bowl to create the stack.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with the right arm.",
+    "Hold the dark inside bowl light blue outside and stack the small bowl with brown edge neatly atop.",
+    "Place the medium-sized bowl for holding food down and stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the small bowl with brown edge.",
+    "Take the curved bowl light blue shade, position it, then stack the glazed bowl with curved sides directly above.",
+    "Align the bowl with brown outer rim and the small bowl with brown edge, then stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl over it.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Put the blue bowl with slightly rounded base first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the small bowl with brown edge over it."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode14.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode14.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd061e9d8babb7a51af969547f8de22553f93ec
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode14.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl and position it neatly over the glazed bowl with curved sides.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the blue bowl, position it, and place the small bowl with brown edge on top.",
+    "Lift the blue bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Align the dark inside bowl light blue outside and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Set the bowl with brown outer rim over the small bowl with brown edge to create the stack.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Hold the curved bowl light blue shade and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl with earthy brown trim.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food above it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the small bowl with brown edge, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Arrange the blue bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the ceramic bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Grab the small bowl with brown edge, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick the small bowl with brown edge, position the medium-sized bowl for holding food, and place it over the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the curved bowl light blue shade above it.",
+    "the ceramic bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Place the ceramic bowl with earthy brown trim down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Take the bowl with brown outer rim, align the blue bowl, and stack them.",
+    "Set the curved bowl light blue shade down, then add the bowl with shiny texture over it.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Align the blue bowl with slightly rounded base over the small bowl with brown edge, then complete the stack.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl, and set the blue bowl on the rounded bowl with light blue color.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the left arm.",
+    "Take the curved bowl light blue shade, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with brown outer rim over it.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Set the blue bowl over the bowl with shiny texture to create the stack.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Grab the blue bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Hold the glazed bowl with curved sides and stack the bowl with shiny texture neatly atop.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Position the ceramic bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Arrange the blue bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Take the ceramic bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the glazed bowl with curved sides, position the ceramic bowl above it, and stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl above it.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with shiny texture on top.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Pick up the bowl with brown outer rim, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, align the blue bowl, and stack them."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode140.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode140.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a28af20d765641401fb1aa6c6099168ef78284a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode140.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge on top.",
+    "Pick the bowl with shiny texture, position the dark inside bowl light blue outside, and place it over the bowl with shiny texture.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl above.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl using the right arm.",
+    "Set the curved bowl light blue shade over the bowl with brown outer rim to create the stack.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Align the dark inside bowl light blue outside and the blue bowl, then stack the blue bowl on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the bowl with brown outer rim, lift the blue bowl, and place the blue bowl on the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Pick up the curved bowl light blue shade, place it down, then position the rounded bowl with light blue color on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Take the rounded bowl with light blue color, place the bowl with brown outer rim above, and let go.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl and set the bowl with brown outer rim on it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Position the dark inside bowl light blue outside and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Align the rounded bowl with light blue color over the curved bowl light blue shade, then complete the stack.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Position the bowl with brown outer rim with the arm, then set the glazed bowl with curved sides above it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Place the small bowl with brown edge down and stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "Arrange the blue bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl to stack above.",
+    "Place the blue bowl on the surface, then stack the curved bowl light blue shade above it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl rests above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick the curved bowl light blue shade, position the blue bowl, and place it over the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl over it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack.",
+    "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Take the ceramic bowl, align the small bowl with brown edge, and stack them.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "Pick the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the bowl with brown outer rim on the surface, then stack the curved bowl light blue shade above it.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl rests above.",
+    "Lift the blue bowl, then stack it on the blue bowl.",
+    "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base on top."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode141.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode141.json
new file mode 100644
index 0000000000000000000000000000000000000000..feeb03d1624f59a99b59f5093848ed1359cf10cc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode141.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick up the blue bowl, grab the blue bowl, and stack the blue bowl on the blue bowl.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "With the right arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the right arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Hold the blue bowl with slightly rounded base steady and slide the medium-sized bowl for holding food on.",
+    "Lift the ceramic bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the bowl with shiny texture over it.",
+    "Lift the dark inside bowl light blue outside, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.",
+    "Arrange the medium-sized bowl for holding food, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the dark inside bowl light blue outside.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with shiny texture with the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set down the rounded bowl with light blue color and drop the curved bowl light blue shade on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with brown outer rim over it.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "Pick up the ceramic bowl using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.",
+    "Grab the small bowl with brown edge, then carefully place the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the ceramic bowl, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Take the bowl with brown outer rim, align the bowl with brown outer rim, and stack them.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with brown outer rim above it.",
+    "With the right arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the right arm.",
+    "Stack the blue bowl securely on top of the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Align the glazed bowl with curved sides and the bowl with brown outer rim, then stack the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Place the rounded bowl with light blue color on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Hold the bowl with shiny texture steady and slide the glazed bowl with curved sides on.",
+    "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with shiny texture above.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the ceramic bowl and stack the bowl with shiny texture neatly atop.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the curved bowl light blue shade, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Set the bowl with shiny texture over the glazed bowl with curved sides to create the stack.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl using the right arm.",
+    "Position the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the small bowl with brown edge.",
+    "Align the blue bowl with slightly rounded base over the bowl with brown outer rim, then complete the stack.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl on top of the bowl with brown outer rim.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode142.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode142.json
new file mode 100644
index 0000000000000000000000000000000000000000..b712ab76add0835a4e27b79f599108ff70bedff1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode142.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the rounded bowl with light blue color over the rounded bowl with light blue color, then complete the stack.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the blue bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Take the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick the glazed bowl with curved sides, position the rounded bowl with light blue color, and place it over the glazed bowl with curved sides.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Pick up the bowl with shiny texture, place it down, then position the dark inside bowl light blue outside on top.",
+    "Align the bowl with shiny texture and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Pick the ceramic bowl, then stack the bowl with brown outer rim on it.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.",
+    "Place the rounded bowl with light blue color down and stack the small bowl with brown edge on top.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "Position the glazed bowl with curved sides carefully on the small bowl with brown edge.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl on it.",
+    "With the right arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the right arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Lift the blue bowl using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl with slightly rounded base above, and let go.",
+    "Take the bowl with shiny texture, position it, then stack the ceramic bowl directly above.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Stack the glazed bowl with curved sides carefully over the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, set it down, then place the medium-sized bowl for holding food over it.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.",
+    "Position the curved bowl light blue shade and stack the small bowl with brown edge securely onto it.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture on top of the medium-sized bowl for holding food.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Grab the small bowl with brown edge, then carefully place the small bowl with brown edge on top.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Arrange the ceramic bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Set down the ceramic bowl and drop the rounded bowl with light blue color on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl with slightly rounded base.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Pick the blue bowl, then stack the medium-sized bowl for holding food on it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Grab the rounded bowl with light blue color, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "With the right arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.",
+    "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Position the curved bowl light blue shade, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the small bowl with brown edge over it.",
+    "Hold the curved bowl light blue shade steady and slide the small bowl with brown edge on.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "the bowl with shiny texture goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the curved bowl light blue shade and stack the curved bowl light blue shade securely onto it.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.",
+    "Align the blue bowl over the rounded bowl with light blue color, then complete the stack.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode143.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode143.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a1f084a5ccb26f9cad0d621e6323e782d1480d8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode143.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the ceramic bowl, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "With the left arm, lift the blue bowl and stack the bowl with shiny texture using the left arm.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the glazed bowl with curved sides, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Place the bowl with brown outer rim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl on top.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.",
+    "Take the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim on top.",
+    "Align the medium-sized bowl for holding food and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the ceramic bowl using the left arm.",
+    "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the curved bowl light blue shade using the left arm.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl.",
+    "Place the blue bowl down and stack the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.",
+    "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.",
+    "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Place the blue bowl down, then set the small bowl with brown edge on top of the blue bowl.",
+    "Position the bowl with brown outer rim carefully on the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the curved bowl light blue shade on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Lift the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Position the small bowl with brown edge, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with brown outer rim over it.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Align the bowl with brown outer rim over the bowl with brown outer rim, then complete the stack.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with shiny texture on top.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Hold the blue bowl with slightly rounded base and stack the curved bowl light blue shade neatly atop.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Grab the glazed bowl with curved sides, then carefully place the rounded bowl with light blue color on top.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the small bowl with brown edge.",
+    "Take the bowl with brown outer rim, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the small bowl with brown edge above.",
+    "Put the small bowl with brown edge first, then bring the small bowl with brown edge to stack above.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl using the left arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode144.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode144.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e637865788a5f2cd8403814f522e42129d2a44
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode144.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl on it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "With the right arm, lift the ceramic bowl and stack the bowl with shiny texture using the left arm.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the ceramic bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge above it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Stack the bowl with shiny texture carefully over the glazed bowl with curved sides.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Set the blue bowl down, then add the medium-sized bowl for holding food over it.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food with the arm, then set the curved bowl light blue shade above it.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Hold the ceramic bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.",
+    "Place the blue bowl down and stack the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then carefully place the curved bowl light blue shade on top.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "the bowl with shiny texture goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.",
+    "Position the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides securely onto it.",
+    "With the right arm, lift the curved bowl light blue shade and stack the small bowl with brown edge using the left arm.",
+    "Take the curved bowl light blue shade, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick up the ceramic bowl using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Use the right arm for the blue bowl, place it, and stack the small bowl with brown edge with the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Lift the bowl with brown outer rim, then stack it on the glazed bowl with curved sides.",
+    "Align the curved bowl light blue shade over the dark inside bowl light blue outside, then complete the stack.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Position the small bowl with brown edge carefully on the medium-sized bowl for holding food.",
+    "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl above.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim on top of the small bowl with brown edge.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the medium-sized bowl for holding food neatly atop.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the curved bowl light blue shade over it.",
+    "Place the bowl with brown outer rim down and stack the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Pick the curved bowl light blue shade, position on the table, and place the curved bowl light blue shade over it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the curved bowl light blue shade.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl on top.",
+    "Lift the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the blue bowl.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode145.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode145.json
new file mode 100644
index 0000000000000000000000000000000000000000..b204828392e54feb9539ca462909bba568a32db9
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode145.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl, and place the ceramic bowl on the dark inside bowl light blue outside.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade on top of the rounded bowl with light blue color.",
+    "Align the medium-sized bowl for holding food and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Hold the blue bowl steady and slide the rounded bowl with light blue color on.",
+    "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Hold the rounded bowl with light blue color and stack the glazed bowl with curved sides neatly atop.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the small bowl with brown edge, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, align the blue bowl with slightly rounded base, and stack them.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the bowl with brown outer rim, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim down and stack the blue bowl on top.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Set the bowl with brown outer rim over the rounded bowl with light blue color to create the stack.",
+    "Grab the curved bowl light blue shade, lift it up, position the small bowl with brown edge, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.",
+    "Pick up the medium-sized bowl for holding food and set the small bowl with brown edge on it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl on it.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the curved bowl light blue shade carefully on the blue bowl.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl to stack above.",
+    "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl with earthy brown trim, and place it over the bowl with brown outer rim.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick up the glazed bowl with curved sides, grab the bowl with shiny texture, and stack the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with brown outer rim.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Position the small bowl with brown edge, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Align the blue bowl with slightly rounded base and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.",
+    "Hold the ceramic bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl on top.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the left arm.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the rounded bowl with light blue color.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with shiny texture, and stack them.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the rounded bowl with light blue color on top.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Pick the bowl with shiny texture, then stack the curved bowl light blue shade on it.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl.",
+    "Set the ceramic bowl down, then add the curved bowl light blue shade over it.",
+    "Use the left arm for the blue bowl, place it, and stack the bowl with shiny texture with the left arm.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Pick up the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food above it.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode146.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode146.json
new file mode 100644
index 0000000000000000000000000000000000000000..f074012302996b7de0db69a0d93ac8ebfb84bc57
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode146.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Place the dark inside bowl light blue outside down and stack the medium-sized bowl for holding food on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "Put the blue bowl first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with shiny texture on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl rests above.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with brown outer rim on it.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.",
+    "With the left arm, lift the curved bowl light blue shade and stack the curved bowl light blue shade using the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Use the left arm for the blue bowl, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the bowl with shiny texture, lay it down, and stack the small bowl with brown edge on top.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl above it.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base on top of the ceramic bowl.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.",
+    "Take the medium-sized bowl for holding food, position it, then stack the blue bowl directly above.",
+    "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture, grab the blue bowl, and set the blue bowl on the bowl with shiny texture.",
+    "Pick up the ceramic bowl using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl over it.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl, and place the blue bowl on the medium-sized bowl for holding food.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the right arm.",
+    "Set down the blue bowl and drop the rounded bowl with light blue color on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the medium-sized bowl for holding food.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Position the rounded bowl with light blue color carefully on the small bowl with brown edge.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with shiny texture above it.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the rounded bowl with light blue color.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl on top of the ceramic bowl with earthy brown trim.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Set the ceramic bowl over the bowl with shiny texture to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Place the bowl with shiny texture down and stack the rounded bowl with light blue color on top."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode147.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode147.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc369924b7dd9cc639d5758966eb74bd7dc84ff1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode147.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the small bowl with brown edge and the curved bowl light blue shade, then stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade, lift the small bowl with brown edge, and place the small bowl with brown edge on the curved bowl light blue shade.",
+    "Position the blue bowl carefully on the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.",
+    "Hold the rounded bowl with light blue color steady and slide the small bowl with brown edge on.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with shiny texture on top.",
+    "the glazed bowl with curved sides goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with brown outer rim.",
+    "With the left arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the right arm.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl to create the stack.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the ceramic bowl with the right arm.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with brown outer rim above it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food on top of the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, position the curved bowl light blue shade above it, and stack.",
+    "Take the small bowl with brown edge, align the blue bowl with slightly rounded base, and stack them.",
+    "Hold the blue bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl securely onto it.",
+    "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides above it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "Take the small bowl with brown edge, place the rounded bowl with light blue color above, and let go.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.",
+    "Use the arm to place the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the dark inside bowl light blue outside and set the rounded bowl with light blue color on it.",
+    "Grab the glazed bowl with curved sides, position it, and place the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Pick up the ceramic bowl, place it down, then position the small bowl with brown edge on top.",
+    "Position the glazed bowl with curved sides, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on it.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl on.",
+    "Set the blue bowl down, then add the blue bowl over it.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Lift the glazed bowl with curved sides, then stack it on the rounded bowl with light blue color.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the blue bowl using the right arm.",
+    "Grab the bowl with shiny texture, set it down, then place the small bowl with brown edge over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with brown outer rim above it.",
+    "Pick the bowl with shiny texture, position the ceramic bowl, and place it over the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Set the ceramic bowl over the bowl with shiny texture to create the stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the blue bowl with the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "Place the curved bowl light blue shade down and stack the small bowl with brown edge on top.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Take the curved bowl light blue shade, align the glazed bowl with curved sides, and stack them.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.",
+    "Put the small bowl with brown edge first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.",
+    "Take the small bowl with brown edge, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the blue bowl, place the bowl with brown outer rim above, and let go.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the small bowl with brown edge and set the blue bowl with slightly rounded base on it.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode148.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode148.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce8560389e15d96268e9f260c5c4b48aacf9392f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode148.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the blue bowl using the left arm.",
+    "Take the medium-sized bowl for holding food, align the curved bowl light blue shade, and stack them.",
+    "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "With the right arm, lift the curved bowl light blue shade and stack the dark inside bowl light blue outside using the left arm.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "the ceramic bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the bowl with shiny texture, place it, and stack the curved bowl light blue shade on top.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade above it.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Align the bowl with brown outer rim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Align the bowl with brown outer rim over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the dark inside bowl light blue outside.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, set it down, then place the curved bowl light blue shade over it.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade on top of the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the blue bowl with slightly rounded base down and stack the small bowl with brown edge on top.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Stack the ceramic bowl carefully over the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Take the bowl with brown outer rim, position it, then stack the bowl with shiny texture directly above.",
+    "Put the dark inside bowl light blue outside first, then bring the blue bowl to stack above.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Grab the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl using the left arm.",
+    "Take the dark inside bowl light blue outside, align the curved bowl light blue shade, and stack them.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.",
+    "With the right arm, lift the bowl with shiny texture and stack the rounded bowl with light blue color using the left arm.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the ceramic bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl above.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with shiny texture rests above.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the blue bowl above it.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Lift the blue bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Hold the small bowl with brown edge steady and slide the bowl with brown outer rim on.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick the glazed bowl with curved sides, position the dark inside bowl light blue outside, and place it over the glazed bowl with curved sides.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Position the rounded bowl with light blue color carefully on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with brown outer rim above it, and stack.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the bowl with brown outer rim over it.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with shiny texture on top.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Position the glazed bowl with curved sides and stack the bowl with brown outer rim securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the small bowl with brown edge on top.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set down the blue bowl with slightly rounded base and drop the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode149.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode149.json
new file mode 100644
index 0000000000000000000000000000000000000000..1090db9919035250974f0884f5b4e3903bb7d505
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode149.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.",
+    "Position the rounded bowl with light blue color, lift the small bowl with brown edge, and place the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Lift the blue bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge above it.",
+    "Take the small bowl with brown edge, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Take the blue bowl, place it, and stack the bowl with shiny texture on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with brown outer rim, position the blue bowl above it, and stack.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "Pick the bowl with brown outer rim, position the dark inside bowl light blue outside, and place it over the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the small bowl with brown edge above.",
+    "the dark inside bowl light blue outside goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Hold the bowl with brown outer rim and stack the rounded bowl with light blue color neatly atop.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Place the ceramic bowl down and stack the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Set the ceramic bowl over the ceramic bowl to create the stack.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the medium-sized bowl for holding food, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the glazed bowl with curved sides, lift the bowl with shiny texture, and place the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture above it.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the blue bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Position the small bowl with brown edge with the arm, then set the curved bowl light blue shade above it.",
+    "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the right arm.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the curved bowl light blue shade on top.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, position the rounded bowl with light blue color above it, and stack.",
+    "Hold the blue bowl steady and slide the small bowl with brown edge on.",
+    "Pick the blue bowl, position the ceramic bowl, and place it over the blue bowl.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with brown outer rim above.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.",
+    "Hold the dark inside bowl light blue outside and stack the glazed bowl with curved sides neatly atop.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the right arm.",
+    "Place the small bowl with brown edge down and stack the bowl with shiny texture on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Take the curved bowl light blue shade, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.",
+    "Pick the bowl with brown outer rim, then stack the small bowl with brown edge on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode15.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode15.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb676ca22732c3f3f4e95807dd877d2d6da697ca
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode15.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Position the bowl with brown outer rim with the arm, then set the blue bowl above it.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture on top of the rounded bowl with light blue color.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge with the right arm.",
+    "Align the dark inside bowl light blue outside over the blue bowl, then complete the stack.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Pick the blue bowl, position the rounded bowl with light blue color, and place it over the blue bowl.",
+    "Grab the bowl with brown outer rim, lift it up, position the small bowl with brown edge, and stack them.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Arrange the bowl with shiny texture, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick the small bowl with brown edge, then stack the curved bowl light blue shade on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Pick up the blue bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl above it.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with brown outer rim on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with brown outer rim on.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl neatly atop.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl, then stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the dark inside bowl light blue outside above it.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl on top of the medium-sized bowl for holding food.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge with the right arm.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "Position the dark inside bowl light blue outside and stack the small bowl with brown edge securely onto it.",
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Pick the small bowl with brown edge, position the medium-sized bowl for holding food, and place it over the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Position the ceramic bowl carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl using the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl directly above.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.",
+    "Place the blue bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the curved bowl light blue shade, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode150.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode150.json
new file mode 100644
index 0000000000000000000000000000000000000000..51765f2aaaad4e26fdb9e6b16bade0ec0a4cda1a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode150.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bowl with brown outer rim and stack the rounded bowl with light blue color neatly atop.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the bowl with brown outer rim using the left arm.",
+    "Hold the curved bowl light blue shade steady and slide the small bowl with brown edge on.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim on top of the bowl with shiny texture.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Pick up the glazed bowl with curved sides and set the ceramic bowl on it.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with brown outer rim directly above.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.",
+    "Arrange the rounded bowl with light blue color, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.",
+    "Stack the blue bowl with slightly rounded base carefully over the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with shiny texture over it.",
+    "Take the bowl with brown outer rim, place the rounded bowl with light blue color above, and let go.",
+    "Align the small bowl with brown edge over the bowl with brown outer rim, then complete the stack.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, position the curved bowl light blue shade, and place it over the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Set the rounded bowl with light blue color over the blue bowl to create the stack.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food, lift the bowl with shiny texture, and place the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge above it.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Place the rounded bowl with light blue color down and stack the dark inside bowl light blue outside on top.",
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Hold the small bowl with brown edge and stack the blue bowl with slightly rounded base neatly atop.",
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the curved bowl light blue shade steady and slide the medium-sized bowl for holding food on.",
+    "Pick up the ceramic bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, then stack it on the dark inside bowl light blue outside.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Grab the blue bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Take the curved bowl light blue shade, place the blue bowl above, and let go.",
+    "Align the rounded bowl with light blue color over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Set the bowl with shiny texture over the glazed bowl with curved sides to create the stack.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the medium-sized bowl for holding food, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Position the curved bowl light blue shade, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with brown outer rim on top.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the blue bowl above it.",
+    "Pick the blue bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.",
+    "the bowl with brown outer rim goes at the bottom, the small bowl with brown edge rests above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Hold the rounded bowl with light blue color and stack the bowl with shiny texture neatly atop.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the left arm."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode151.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode151.json
new file mode 100644
index 0000000000000000000000000000000000000000..08e2a94092f39bea6615793ec25ac84625fa2feb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode151.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, align the bowl with brown outer rim, and stack them.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl, and place it over the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "With the left arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Stack the medium-sized bowl for holding food carefully over the curved bowl light blue shade.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl above it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the small bowl with brown edge, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Stack the bowl with brown outer rim securely on top of the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Hold the bowl with brown outer rim steady and slide the curved bowl light blue shade on.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with shiny texture above it, and stack.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl above.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Position the blue bowl carefully on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl, place it, and stack the curved bowl light blue shade on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with shiny texture directly above.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.",
+    "Position the curved bowl light blue shade, lift the small bowl with brown edge, and place the small bowl with brown edge on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, align the blue bowl, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the bowl with brown outer rim over it.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Align the ceramic bowl over the curved bowl light blue shade, then complete the stack.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Stack the bowl with brown outer rim carefully over the bowl with brown outer rim.",
+    "Position the small bowl with brown edge with the arm, then set the dark inside bowl light blue outside above it.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl.",
+    "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.",
+    "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the blue bowl, then stack the dark inside bowl light blue outside on it.",
+    "Grab the bowl with shiny texture, then stack the bowl with shiny texture on top.",
+    "the rounded bowl with light blue color goes at the bottom, the curved bowl light blue shade rests above.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the glazed bowl with curved sides to stack above.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Align the dark inside bowl light blue outside and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl securely onto it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the glazed bowl with curved sides on top.",
+    "Position the blue bowl carefully on the blue bowl.",
+    "Take the ceramic bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with brown outer rim directly above.",
+    "Set the dark inside bowl light blue outside over the bowl with brown outer rim to create the stack.",
+    "Lift the ceramic bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Take the glazed bowl with curved sides, place the medium-sized bowl for holding food above, and let go.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode152.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode152.json
new file mode 100644
index 0000000000000000000000000000000000000000..33560f095722caf45805711f7d7cc7fbe000f826
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode152.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Use the left arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the blue bowl, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Take the bowl with brown outer rim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the blue bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the blue bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim above it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl.",
+    "Stack the bowl with brown outer rim carefully over the glazed bowl with curved sides.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick up the bowl with shiny texture, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Hold the blue bowl and stack the curved bowl light blue shade neatly atop.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the right arm.",
+    "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Align the ceramic bowl with earthy brown trim and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl over it.",
+    "With the left arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge, place it down, then position the small bowl with brown edge on top.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl on top.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with the right arm.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Grab the bowl with brown outer rim, then carefully place the small bowl with brown edge on top.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the bowl with shiny texture and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "Lift the blue bowl, then stack it on the glazed bowl with curved sides.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the small bowl with brown edge.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl above it.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl carefully on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge over the glazed bowl with curved sides to create the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with shiny texture.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl to stack above.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the small bowl with brown edge, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the medium-sized bowl for holding food, position the curved bowl light blue shade, and place it over the medium-sized bowl for holding food.",
+    "Align the blue bowl with slightly rounded base and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Align the blue bowl with slightly rounded base over the bowl with shiny texture, then complete the stack.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "With the left arm, lift the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl over it.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the glazed bowl with curved sides and set the glazed bowl with curved sides on it.",
+    "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "Pick the rounded bowl with light blue color, then stack the small bowl with brown edge on it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the right arm."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode153.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode153.json
new file mode 100644
index 0000000000000000000000000000000000000000..230ef319c6aef5db8a24eeb3467cc04b76b0e1af
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode153.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the blue bowl and stack the bowl with brown outer rim using the right arm.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Take the small bowl with brown edge, place the blue bowl above, and let go.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set down the rounded bowl with light blue color and drop the medium-sized bowl for holding food on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.",
+    "Hold the bowl with shiny texture steady and slide the glazed bowl with curved sides on.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, then stack the curved bowl light blue shade on it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.",
+    "Place the blue bowl down and stack the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Set the curved bowl light blue shade down, then add the medium-sized bowl for holding food over it.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Stack the bowl with shiny texture carefully over the blue bowl with slightly rounded base.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Set the dark inside bowl light blue outside over the blue bowl to create the stack.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the bowl with shiny texture, position the ceramic bowl above it, and stack.",
+    "Grab the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Put the small bowl with brown edge first, then bring the small bowl with brown edge to stack above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with brown outer rim above.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the right arm.",
+    "Position the curved bowl light blue shade, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Take the ceramic bowl, place the bowl with shiny texture above, and let go.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with shiny texture on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl on top.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl, and stack them.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Pick the bowl with shiny texture, then stack the bowl with shiny texture on it.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "Place the blue bowl down and stack the small bowl with brown edge on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Set the rounded bowl with light blue color down, then add the medium-sized bowl for holding food over it.",
+    "Take the blue bowl, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the bowl with shiny texture on it.",
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Align the bowl with brown outer rim over the medium-sized bowl for holding food, then complete the stack.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Take the bowl with shiny texture, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the glazed bowl with curved sides, set it down, then place the small bowl with brown edge over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Grab the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Put the ceramic bowl first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Position the bowl with brown outer rim and stack the bowl with brown outer rim securely onto it.",
+    "Hold the ceramic bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl above.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with brown outer rim.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the bowl with shiny texture using the right arm."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode154.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode154.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ac221494485b9db2437989416142edb167b1c45
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode154.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the curved bowl light blue shade on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color neatly atop.",
+    "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.",
+    "Set the rounded bowl with light blue color over the bowl with shiny texture to create the stack.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base on top of the bowl with brown outer rim.",
+    "Align the glazed bowl with curved sides over the ceramic bowl, then complete the stack.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick up the dark inside bowl light blue outside and set the small bowl with brown edge on it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Pick the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on it.",
+    "Pick the bowl with shiny texture, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the blue bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl with earthy brown trim, and place it over the curved bowl light blue shade.",
+    "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the blue bowl, position the small bowl with brown edge above it, and stack.",
+    "Position the ceramic bowl with earthy brown trim carefully on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Set down the blue bowl with slightly rounded base and drop the curved bowl light blue shade on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Position the blue bowl, lift the blue bowl, and place the blue bowl on the blue bowl.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the dark inside bowl light blue outside on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with the left arm.",
+    "Grab the small bowl with brown edge, set it down, then place the small bowl with brown edge over it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with brown outer rim directly above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Hold the curved bowl light blue shade and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with brown outer rim on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Take the blue bowl, place the rounded bowl with light blue color above, and let go.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food on top of the rounded bowl with light blue color.",
+    "Align the ceramic bowl over the curved bowl light blue shade, then complete the stack.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Pick the bowl with brown outer rim, then stack the glazed bowl with curved sides on it.",
+    "Pick the bowl with shiny texture, position on the table, and place the small bowl with brown edge over it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the small bowl with brown edge, then stack it on the curved bowl light blue shade.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Stack the bowl with brown outer rim carefully over the bowl with brown outer rim.",
+    "Lift the blue bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, position the bowl with shiny texture above it, and stack.",
+    "Position the blue bowl carefully on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down and stack the curved bowl light blue shade on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode155.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode155.json
new file mode 100644
index 0000000000000000000000000000000000000000..14b23bce6bcadcfb68ad280d3d77587781dfaf39
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base using the left arm.",
+    "Set down the ceramic bowl and drop the ceramic bowl on top.",
+    "Align the small bowl with brown edge over the bowl with shiny texture, then complete the stack.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "Take the dark inside bowl light blue outside, place the medium-sized bowl for holding food above, and let go.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it.",
+    "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim.",
+    "Set the ceramic bowl over the ceramic bowl to create the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim, then carefully place the medium-sized bowl for holding food on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the glazed bowl with curved sides on.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Lift the blue bowl, grab the ceramic bowl, and set the ceramic bowl on the blue bowl.",
+    "Position the bowl with brown outer rim and stack the rounded bowl with light blue color securely onto it.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Position the small bowl with brown edge carefully on the curved bowl light blue shade.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Pick the curved bowl light blue shade, then stack the glazed bowl with curved sides on it.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Take the curved bowl light blue shade, align the rounded bowl with light blue color, and stack them.",
+    "Arrange the bowl with brown outer rim, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Align the bowl with brown outer rim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl above.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "With the right arm, lift the ceramic bowl and stack the dark inside bowl light blue outside using the left arm.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl rests above.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl with slightly rounded base above, and let go.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the ceramic bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the glazed bowl with curved sides on.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim above it.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl, and set the ceramic bowl on the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the glazed bowl with curved sides.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with brown outer rim.",
+    "Position the bowl with brown outer rim carefully on the bowl with shiny texture.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Set the bowl with brown outer rim down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with brown outer rim neatly atop.",
+    "Take the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides on top of the ceramic bowl.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Stack the medium-sized bowl for holding food securely on top of the curved bowl light blue shade.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode156.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode156.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5595cd31539905142d48d7c8711da07c64f2286
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode156.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl with earthy brown trim.",
+    "Hold the ceramic bowl steady and slide the blue bowl on.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the medium-sized bowl for holding food down and stack the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Align the small bowl with brown edge and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Put the glazed bowl with curved sides first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the ceramic bowl using the right arm.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl over it.",
+    "With the left arm, lift the small bowl with brown edge and stack the rounded bowl with light blue color using the right arm.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Take the glazed bowl with curved sides, place the blue bowl above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Position the blue bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl over it.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl rests above.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Arrange the bowl with shiny texture, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "Place the rounded bowl with light blue color down and stack the curved bowl light blue shade on top.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base on top of the curved bowl light blue shade.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base securely onto it.",
+    "Align the bowl with brown outer rim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the ceramic bowl directly above.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the ceramic bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the ceramic bowl.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with shiny texture over it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the blue bowl using the right arm.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "With the left arm, lift the bowl with shiny texture and stack the dark inside bowl light blue outside using the right arm.",
+    "Position the bowl with shiny texture, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode157.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode157.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d193ad1bfe3844af552bfd904c5e5f4492f0da
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode157.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the small bowl with brown edge.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with shiny texture above it.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, align the curved bowl light blue shade, and stack them.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Pick up the blue bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the ceramic bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Stack the rounded bowl with light blue color securely on top of the medium-sized bowl for holding food.",
+    "Take the blue bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl on.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl and position it neatly over the small bowl with brown edge.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.",
+    "Arrange the ceramic bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the ceramic bowl over it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the curved bowl light blue shade, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the blue bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the left arm.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food on top of the blue bowl.",
+    "Lift the bowl with shiny texture, position the glazed bowl with curved sides above it, and stack.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Position the bowl with brown outer rim carefully on the bowl with brown outer rim.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Pick up the glazed bowl with curved sides and set the bowl with shiny texture on it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Lift the blue bowl, then stack it on the glazed bowl with curved sides.",
+    "Pick the dark inside bowl light blue outside, position the curved bowl light blue shade, and place it over the dark inside bowl light blue outside.",
+    "Set the rounded bowl with light blue color down, then add the glazed bowl with curved sides over it.",
+    "Pick the rounded bowl with light blue color, then stack the ceramic bowl on it.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Take the small bowl with brown edge, position it, then stack the blue bowl directly above.",
+    "Take the glazed bowl with curved sides, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl on.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color above it.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the ceramic bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Arrange the glazed bowl with curved sides, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the ceramic bowl, set it down, then place the small bowl with brown edge over it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the left arm.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the glazed bowl with curved sides down and stack the dark inside bowl light blue outside on top.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "Hold the rounded bowl with light blue color and stack the curved bowl light blue shade neatly atop.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the left arm.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl over it.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture on top of the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, position the medium-sized bowl for holding food above it, and stack.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl above it.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode158.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode158.json
new file mode 100644
index 0000000000000000000000000000000000000000..247721d46d5a60d537994862e978614a4612fcbd
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode158.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the rounded bowl with light blue color securely on top of the medium-sized bowl for holding food.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with brown outer rim on it.",
+    "Position the dark inside bowl light blue outside, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside on top of the rounded bowl with light blue color.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Take the ceramic bowl, align the bowl with shiny texture, and stack them.",
+    "Position the medium-sized bowl for holding food and stack the dark inside bowl light blue outside securely onto it.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl with earthy brown trim on.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.",
+    "Hold the ceramic bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Pick the bowl with shiny texture, position on the table, and place the small bowl with brown edge over it.",
+    "Take the small bowl with brown edge, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the blue bowl, place it, and stack the curved bowl light blue shade on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the curved bowl light blue shade above it.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the bowl with shiny texture, position the ceramic bowl above it, and stack.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Place the blue bowl on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with shiny texture on top.",
+    "Take the bowl with brown outer rim, place the rounded bowl with light blue color above, and let go.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides above it.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the rounded bowl with light blue color on top.",
+    "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Set the dark inside bowl light blue outside over the curved bowl light blue shade to create the stack.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade, then stack it on the glazed bowl with curved sides.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with the left arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.",
+    "Take the blue bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Align the glazed bowl with curved sides over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick the ceramic bowl, position the blue bowl, and place it over the ceramic bowl.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl on it.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the blue bowl, position it, and place the blue bowl on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the rounded bowl with light blue color carefully on the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl on top.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Grab the bowl with shiny texture, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the blue bowl and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the blue bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl on it."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode159.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode159.json
new file mode 100644
index 0000000000000000000000000000000000000000..110283a7d1bd1ce5f648a9fb7d716707e8d4f21d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode159.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the bowl with shiny texture and stack the medium-sized bowl for holding food securely onto it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the small bowl with brown edge over it.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the bowl with shiny texture using the right arm.",
+    "Lift the ceramic bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "the small bowl with brown edge goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Hold the bowl with shiny texture and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the ceramic bowl using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with brown outer rim above.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Align the small bowl with brown edge and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Pick up the dark inside bowl light blue outside and set the rounded bowl with light blue color on it.",
+    "Lift the blue bowl, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on it.",
+    "Grab the curved bowl light blue shade, position it, and place the curved bowl light blue shade on top.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base above it.",
+    "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.",
+    "Put the curved bowl light blue shade first, then bring the curved bowl light blue shade to stack above.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food on top of the rounded bowl with light blue color.",
+    "Position the blue bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl.",
+    "Take the rounded bowl with light blue color, position it, then stack the curved bowl light blue shade directly above.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Arrange the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl on.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the blue bowl and stack the small bowl with brown edge securely onto it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl.",
+    "Position the medium-sized bowl for holding food carefully on the small bowl with brown edge.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the blue bowl, position the blue bowl above it, and stack.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Take the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.",
+    "Set the blue bowl over the medium-sized bowl for holding food to create the stack.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the small bowl with brown edge above.",
+    "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.",
+    "Align the curved bowl light blue shade and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Pick up the glazed bowl with curved sides and set the small bowl with brown edge on it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Pick the medium-sized bowl for holding food, then stack the small bowl with brown edge on it.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture above it.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Position the ceramic bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the small bowl with brown edge on.",
+    "Pick the ceramic bowl, position the dark inside bowl light blue outside, and place it over the ceramic bowl.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl with slightly rounded base.",
+    "Stack the blue bowl with slightly rounded base carefully over the rounded bowl with light blue color.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode16.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode16.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdfe9f5814cdac010fa0e200ad6623dd1fc5bbf3
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode16.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with brown outer rim.",
+    "Align the medium-sized bowl for holding food over the bowl with shiny texture, then complete the stack.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Put the bowl with shiny texture first, then bring the medium-sized bowl for holding food to stack above.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl over it.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Align the medium-sized bowl for holding food and the ceramic bowl, then stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the curved bowl light blue shade and set the bowl with brown outer rim on it.",
+    "Lift the bowl with shiny texture, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the bowl with brown outer rim using the right arm.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Place the medium-sized bowl for holding food down, then set the medium-sized bowl for holding food on top of the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides, grab the bowl with shiny texture, and stack the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl, and place the blue bowl on the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, position it, then stack the curved bowl light blue shade directly above.",
+    "Hold the blue bowl and stack the small bowl with brown edge neatly atop.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the rounded bowl with light blue color, then stack it on the rounded bowl with light blue color.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the bowl with shiny texture, then stack the curved bowl light blue shade on it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with shiny texture on.",
+    "Grab the glazed bowl with curved sides, position it, and place the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with brown outer rim rests above.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Position the blue bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl over it.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the medium-sized bowl for holding food on top.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides above it.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Take the bowl with shiny texture, align the bowl with shiny texture, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the rounded bowl with light blue color over it.",
+    "Pick up the ceramic bowl with earthy brown trim and set the glazed bowl with curved sides on it.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl over it.",
+    "Position the blue bowl and stack the small bowl with brown edge securely onto it.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Arrange the blue bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the right arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the blue bowl down, then set the small bowl with brown edge on top of the blue bowl.",
+    "Pick up the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Position the dark inside bowl light blue outside, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with brown outer rim directly above.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Stack the medium-sized bowl for holding food securely on top of the small bowl with brown edge.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode160.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode160.json
new file mode 100644
index 0000000000000000000000000000000000000000..d80837882bcf259ee5db8e9648b7fc15825e0a4f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode160.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.",
+    "Align the small bowl with brown edge over the ceramic bowl, then complete the stack.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl directly above.",
+    "Place the bowl with shiny texture down, then set the blue bowl above it.",
+    "Take the blue bowl, place it, and stack the bowl with shiny texture on top.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the dark inside bowl light blue outside carefully on the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the curved bowl light blue shade, position the small bowl with brown edge above it, and stack.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Take the ceramic bowl, place the glazed bowl with curved sides above, and let go.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.",
+    "Take the bowl with shiny texture, align the curved bowl light blue shade, and stack them.",
+    "Hold the small bowl with brown edge steady and slide the curved bowl light blue shade on.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Hold the glazed bowl with curved sides and stack the curved bowl light blue shade neatly atop.",
+    "Lift the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl on it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the blue bowl and stack the bowl with shiny texture securely onto it.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.",
+    "Use the arm to place the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl, and place it over the curved bowl light blue shade.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with brown outer rim above it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the left arm.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Place the glazed bowl with curved sides down and stack the dark inside bowl light blue outside on top.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.",
+    "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, then stack it on the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "the ceramic bowl goes at the bottom, the blue bowl rests above.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the glazed bowl with curved sides, align the bowl with shiny texture, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the small bowl with brown edge above.",
+    "Pick up the bowl with brown outer rim and set the curved bowl light blue shade on it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Place the glazed bowl with curved sides down, then set the bowl with brown outer rim on top of the glazed bowl with curved sides.",
+    "Grab the blue bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Use the left arm for the ceramic bowl, place it, and stack the blue bowl with the left arm.",
+    "Pick up the glazed bowl with curved sides, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl on top.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "With the left arm, lift the ceramic bowl and stack the bowl with brown outer rim using the left arm.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl above it.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode161.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode161.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c48f0c98ee53b5c207f3fa77c152190f4462c5a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode161.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.",
+    "Hold the ceramic bowl steady and slide the bowl with brown outer rim on.",
+    "Grab the small bowl with brown edge, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the curved bowl light blue shade.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Position the bowl with brown outer rim and stack the rounded bowl with light blue color securely onto it.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade on top.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Lift the medium-sized bowl for holding food, grab the small bowl with brown edge, and set the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl on top.",
+    "Stack the medium-sized bowl for holding food carefully over the glazed bowl with curved sides.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Lift the ceramic bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl and set the curved bowl light blue shade on it.",
+    "Arrange the blue bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the right arm.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick the ceramic bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.",
+    "Take the dark inside bowl light blue outside, place the medium-sized bowl for holding food above, and let go.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with brown outer rim rests above.",
+    "Take the glazed bowl with curved sides, align the blue bowl with slightly rounded base, and stack them.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "Set the bowl with shiny texture over the glazed bowl with curved sides to create the stack.",
+    "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl above it.",
+    "Position the blue bowl and stack the blue bowl securely onto it.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the curved bowl light blue shade carefully on the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, position it, and place the curved bowl light blue shade on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Stack the ceramic bowl carefully over the bowl with brown outer rim.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture on top of the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with brown outer rim on it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, then stack it on the medium-sized bowl for holding food.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl, and stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the curved bowl light blue shade and stack the glazed bowl with curved sides using the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl, and place the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "the blue bowl goes at the bottom, the ceramic bowl rests above.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the right arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode162.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode162.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ba76041715fe874eb2971300a9698323061cdf8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode162.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Position the small bowl with brown edge and stack the bowl with shiny texture securely onto it.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Position the blue bowl carefully on the bowl with shiny texture.",
+    "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with shiny texture.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Set the small bowl with brown edge over the ceramic bowl to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the small bowl with brown edge, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Pick the bowl with brown outer rim, then stack the bowl with shiny texture on it.",
+    "Align the small bowl with brown edge and the small bowl with brown edge, then stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Grab the dark inside bowl light blue outside, then carefully place the curved bowl light blue shade on top.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Place the curved bowl light blue shade down and stack the bowl with shiny texture on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Set the ceramic bowl down, then add the ceramic bowl over it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Pick the small bowl with brown edge, position the curved bowl light blue shade, and place it over the small bowl with brown edge.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Take the ceramic bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Position the small bowl with brown edge and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "With the right arm, lift the bowl with brown outer rim and stack the ceramic bowl using the left arm.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with brown outer rim on it.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Set down the blue bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Hold the bowl with brown outer rim and stack the bowl with brown outer rim neatly atop.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl with slightly rounded base.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the curved bowl light blue shade.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl above.",
+    "Set the curved bowl light blue shade over the medium-sized bowl for holding food to create the stack.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the rounded bowl with light blue color, position it, and place the rounded bowl with light blue color on top.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Pick the ceramic bowl, then stack the blue bowl on it.",
+    "Align the blue bowl with slightly rounded base and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.",
+    "Position the blue bowl with the arm, then set the small bowl with brown edge above it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade, grab the small bowl with brown edge, and stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Set the ceramic bowl down, then add the bowl with shiny texture over it.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Put the ceramic bowl first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the curved bowl light blue shade, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Arrange the blue bowl with slightly rounded base, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl securely onto it."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode163.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode163.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a573d733069ff1aa74737a455a41bc4f689a356
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode163.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the ceramic bowl, position it, and place the small bowl with brown edge on top.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Lift the blue bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the small bowl with brown edge, then carefully place the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Put the ceramic bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Hold the curved bowl light blue shade and stack the bowl with brown outer rim neatly atop.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Align the small bowl with brown edge over the ceramic bowl, then complete the stack.",
+    "Arrange the medium-sized bowl for holding food, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the glazed bowl with curved sides on it.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl using the left arm.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Hold the bowl with brown outer rim steady and slide the dark inside bowl light blue outside on.",
+    "Use the right arm for the blue bowl, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl, and stack them.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Position the bowl with shiny texture and stack the blue bowl securely onto it.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Pick the bowl with shiny texture, position the medium-sized bowl for holding food, and place it over the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Stack the small bowl with brown edge carefully over the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Set down the curved bowl light blue shade and drop the blue bowl on top.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the small bowl with brown edge above it.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with shiny texture on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Set the bowl with brown outer rim down, then add the dark inside bowl light blue outside over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl to stack above.",
+    "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Arrange the ceramic bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Hold the bowl with brown outer rim steady and slide the dark inside bowl light blue outside on.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with the left arm.",
+    "Use the arm to place the blue bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture above it.",
+    "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Pick up the ceramic bowl, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Grab the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Take the rounded bowl with light blue color, align the rounded bowl with light blue color, and stack them.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.",
+    "Pick the ceramic bowl, then stack the ceramic bowl on it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl with slightly rounded base above it."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode164.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode164.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a104f795f59851e19f254b70ac3095e8f79177b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode164.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Set the bowl with brown outer rim down, then add the blue bowl with slightly rounded base over it.",
+    "Position the ceramic bowl with the arm, then set the blue bowl above it.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Grab the blue bowl, then carefully place the small bowl with brown edge on top.",
+    "Hold the curved bowl light blue shade steady and slide the medium-sized bowl for holding food on.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the bowl with shiny texture using the right arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Grab the rounded bowl with light blue color, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Align the ceramic bowl with earthy brown trim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Arrange the blue bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Take the medium-sized bowl for holding food, align the small bowl with brown edge, and stack them.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food on top of the curved bowl light blue shade.",
+    "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.",
+    "Align the small bowl with brown edge over the curved bowl light blue shade, then complete the stack.",
+    "Hold the blue bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Set down the curved bowl light blue shade and drop the glazed bowl with curved sides on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the small bowl with brown edge, then stack the bowl with shiny texture on it.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Pick the ceramic bowl, position the glazed bowl with curved sides, and place it over the ceramic bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with brown outer rim over it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the small bowl with brown edge directly above.",
+    "Place the glazed bowl with curved sides down and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with shiny texture.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.",
+    "Set the blue bowl down, then add the rounded bowl with light blue color over it.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick up the glazed bowl with curved sides and set the medium-sized bowl for holding food on it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with brown outer rim on top.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the right arm.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl.",
+    "Position the bowl with brown outer rim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl on top.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Align the blue bowl with slightly rounded base and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Arrange the blue bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl using the right arm.",
+    "Pick up the curved bowl light blue shade, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Stack the glazed bowl with curved sides carefully over the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim on top of the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Align the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside, then complete the stack.",
+    "Hold the dark inside bowl light blue outside and stack the curved bowl light blue shade neatly atop.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Grab the ceramic bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Set the glazed bowl with curved sides over the blue bowl with slightly rounded base to create the stack.",
+    "Pick the ceramic bowl, position the blue bowl, and place it over the ceramic bowl.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Place the blue bowl down and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Stack the blue bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Take the dark inside bowl light blue outside, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the small bowl with brown edge, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl rests above.",
+    "Grab the blue bowl with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with shiny texture on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode165.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode165.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e38f477662a5cf626d6a2734923b99490a2fb9
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode165.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl, then carefully place the ceramic bowl on top.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with the arm, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the bowl with brown outer rim over it.",
+    "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl rests above.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.",
+    "Grab the dark inside bowl light blue outside, position it, and place the small bowl with brown edge on top.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim on top of the dark inside bowl light blue outside.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl with earthy brown trim, and place it over the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the curved bowl light blue shade on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with shiny texture on top.",
+    "Set the bowl with brown outer rim over the rounded bowl with light blue color to create the stack.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick up the blue bowl and set the small bowl with brown edge on it.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Hold the blue bowl with slightly rounded base and stack the small bowl with brown edge neatly atop.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with brown outer rim above.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with brown outer rim on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the rounded bowl with light blue color.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "With the right arm, lift the ceramic bowl and stack the rounded bowl with light blue color using the left arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl.",
+    "Grab the blue bowl, then carefully place the blue bowl on top.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Align the small bowl with brown edge and the bowl with brown outer rim, then stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.",
+    "Put the blue bowl first, then bring the blue bowl to stack above.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with shiny texture above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base above it.",
+    "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the medium-sized bowl for holding food, place the bowl with shiny texture above, and let go.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides on top of the curved bowl light blue shade.",
+    "Pick the medium-sized bowl for holding food, position the rounded bowl with light blue color, and place it over the medium-sized bowl for holding food.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on it.",
+    "Pick up the small bowl with brown edge, place it down, then position the curved bowl light blue shade on top.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "Take the ceramic bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Place the blue bowl with slightly rounded base down and stack the rounded bowl with light blue color on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with brown outer rim neatly atop.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with brown outer rim on top.",
+    "Stack the blue bowl securely on top of the bowl with shiny texture.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.",
+    "Stack the ceramic bowl carefully over the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode166.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode166.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d2ca626de06ce7d3e56c777d08da9f295803622
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode166.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with brown outer rim, position it, then stack the small bowl with brown edge directly above.",
+    "Lift the blue bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the small bowl with brown edge, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Stack the blue bowl securely on top of the curved bowl light blue shade.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Take the ceramic bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Use the arm to place the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl with slightly rounded base, and place it over the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the medium-sized bowl for holding food on it.",
+    "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with brown outer rim over it.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the glazed bowl with curved sides on.",
+    "Pick the blue bowl, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the ceramic bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl.",
+    "Pick up the ceramic bowl using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Lift the ceramic bowl and position it neatly over the bowl with brown outer rim.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Grab the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Set down the rounded bowl with light blue color and drop the glazed bowl with curved sides on top.",
+    "Hold the blue bowl and stack the bowl with shiny texture neatly atop.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.",
+    "Position the curved bowl light blue shade and stack the blue bowl with slightly rounded base securely onto it.",
+    "Take the curved bowl light blue shade, place the blue bowl above, and let go.",
+    "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food above it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl, and stack the blue bowl on the curved bowl light blue shade.",
+    "Align the bowl with brown outer rim over the curved bowl light blue shade, then complete the stack.",
+    "Stack the ceramic bowl securely on top of the blue bowl with slightly rounded base.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with the left arm.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl with slightly rounded base, and stack them.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Align the ceramic bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "With the right arm, lift the bowl with shiny texture and stack the small bowl with brown edge using the left arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the dark inside bowl light blue outside on top.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the small bowl with brown edge over it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the ceramic bowl steady and slide the small bowl with brown edge on.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Set the ceramic bowl over the blue bowl to create the stack.",
+    "Position the small bowl with brown edge carefully on the bowl with brown outer rim.",
+    "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Lift the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Take the medium-sized bowl for holding food, place the bowl with shiny texture above, and let go.",
+    "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Lift the small bowl with brown edge, then stack it on the curved bowl light blue shade.",
+    "Grab the blue bowl, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode167.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode167.json
new file mode 100644
index 0000000000000000000000000000000000000000..c09a4662c2dc60252d144b9d831b06cc145c4db4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode167.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Hold the blue bowl with slightly rounded base and stack the small bowl with brown edge neatly atop.",
+    "Pick the small bowl with brown edge, position the rounded bowl with light blue color, and place it over the small bowl with brown edge.",
+    "Put the blue bowl with slightly rounded base first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Grab the blue bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with shiny texture on top.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl on it.",
+    "Lift the small bowl with brown edge, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "Stack the bowl with brown outer rim carefully over the bowl with shiny texture.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Align the ceramic bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Hold the blue bowl steady and slide the glazed bowl with curved sides on.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Pick up the medium-sized bowl for holding food and set the glazed bowl with curved sides on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl above it.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside above it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the right arm.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Take the curved bowl light blue shade, place the rounded bowl with light blue color above, and let go.",
+    "Hold the blue bowl and stack the bowl with brown outer rim neatly atop.",
+    "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl and position it neatly over the rounded bowl with light blue color.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the glazed bowl with curved sides on top.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base on top of the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Take the small bowl with brown edge, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl over it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl using the right arm.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl and set the glazed bowl with curved sides on it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl rests above.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Align the blue bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside above it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl directly above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the right arm."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode168.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode168.json
new file mode 100644
index 0000000000000000000000000000000000000000..513b0418399ee427d0b205e8df34ced941c45c4f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode168.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the dark inside bowl light blue outside goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Hold the blue bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "Lift the ceramic bowl, then stack it on the dark inside bowl light blue outside.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with shiny texture.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Set down the curved bowl light blue shade and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, position the rounded bowl with light blue color above it, and stack.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Pick the ceramic bowl, then stack the ceramic bowl on it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl, and set the ceramic bowl on the glazed bowl with curved sides.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick up the blue bowl and set the rounded bowl with light blue color on it.",
+    "Position the medium-sized bowl for holding food and stack the bowl with shiny texture securely onto it.",
+    "With the right arm, lift the blue bowl and stack the bowl with brown outer rim using the left arm.",
+    "Use the right arm for the blue bowl, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the glazed bowl with curved sides on top.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl on.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl on top.",
+    "the curved bowl light blue shade goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl neatly atop.",
+    "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.",
+    "Lift the blue bowl, then stack it on the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.",
+    "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "Set the bowl with shiny texture down, then add the bowl with brown outer rim over it.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl to stack above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the ceramic bowl.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Place the curved bowl light blue shade down and stack the bowl with shiny texture on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with the arm, and stack them.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl, and set the ceramic bowl on the rounded bowl with light blue color.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl over it.",
+    "Take the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Take the medium-sized bowl for holding food, place the glazed bowl with curved sides above, and let go.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside and set the curved bowl light blue shade on it.",
+    "Position the bowl with brown outer rim and stack the rounded bowl with light blue color securely onto it.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the left arm.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with brown outer rim above it.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Grab the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the blue bowl on top."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode169.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode169.json
new file mode 100644
index 0000000000000000000000000000000000000000..17e016879ad041eaecb4e3250a0f972d6070b34e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode169.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the ceramic bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick the ceramic bowl, position the rounded bowl with light blue color, and place it over the ceramic bowl.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the small bowl with brown edge over it.",
+    "Set the ceramic bowl with earthy brown trim over the rounded bowl with light blue color to create the stack.",
+    "Place the blue bowl with slightly rounded base down and stack the small bowl with brown edge on top.",
+    "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with shiny texture.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the ceramic bowl, then carefully place the small bowl with brown edge on top.",
+    "Hold the blue bowl steady and slide the bowl with shiny texture on.",
+    "Align the small bowl with brown edge over the glazed bowl with curved sides, then complete the stack.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim on top of the dark inside bowl light blue outside.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the small bowl with brown edge on it.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the small bowl with brown edge on top.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge above it.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Set the curved bowl light blue shade down, then add the dark inside bowl light blue outside over it.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim carefully on the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "Position the curved bowl light blue shade and stack the small bowl with brown edge securely onto it.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, then stack the glazed bowl with curved sides on it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.",
+    "With the left arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.",
+    "Arrange the medium-sized bowl for holding food, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl directly above.",
+    "Lift the small bowl with brown edge, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Grab the blue bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "the rounded bowl with light blue color goes at the bottom, the small bowl with brown edge rests above.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the dark inside bowl light blue outside, position the glazed bowl with curved sides, and place it over the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Set the small bowl with brown edge over the glazed bowl with curved sides to create the stack.",
+    "Place the blue bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl to stack above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the small bowl with brown edge.",
+    "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the dark inside bowl light blue outside on.",
+    "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the glazed bowl with curved sides and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color above it.",
+    "Lift the glazed bowl with curved sides, position the rounded bowl with light blue color above it, and stack.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with brown outer rim over it.",
+    "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside carefully on the curved bowl light blue shade.",
+    "Pick up the blue bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.",
+    "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "With the left arm, lift the small bowl with brown edge and stack the dark inside bowl light blue outside using the left arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the curved bowl light blue shade.",
+    "Arrange the medium-sized bowl for holding food, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode17.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode17.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac344a584c9344f637a01d90985108b64f183840
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode17.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with shiny texture rests above.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set the medium-sized bowl for holding food down, then add the rounded bowl with light blue color over it.",
+    "Pick the bowl with brown outer rim, then stack the bowl with brown outer rim on it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Use the arm to place the small bowl with brown edge, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Take the ceramic bowl, align the small bowl with brown edge, and stack them.",
+    "Stack the curved bowl light blue shade securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl above it, and stack.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color above it.",
+    "Align the curved bowl light blue shade and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Position the rounded bowl with light blue color carefully on the small bowl with brown edge.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Grab the glazed bowl with curved sides, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "With the left arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the right arm.",
+    "Align the ceramic bowl over the blue bowl, then complete the stack.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Use the left arm for the ceramic bowl, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the small bowl with brown edge, lay it down, and stack the small bowl with brown edge on top.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Lift the blue bowl and position it neatly over the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick up the dark inside bowl light blue outside and set the medium-sized bowl for holding food on it.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Pick the glazed bowl with curved sides, position the small bowl with brown edge, and place it over the glazed bowl with curved sides.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with brown outer rim on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl, and place the ceramic bowl on the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, align the ceramic bowl, and stack them.",
+    "Stack the medium-sized bowl for holding food securely on top of the dark inside bowl light blue outside.",
+    "Grab the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge, position the ceramic bowl above it, and stack.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Position the bowl with brown outer rim carefully on the rounded bowl with light blue color.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Set the ceramic bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl neatly atop.",
+    "Stack the blue bowl carefully over the small bowl with brown edge.",
+    "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Lift the small bowl with brown edge, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base using the right arm.",
+    "Align the ceramic bowl with earthy brown trim over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the blue bowl directly above.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Lift the small bowl with brown edge, then stack it on the small bowl with brown edge.",
+    "Pick the glazed bowl with curved sides, position the medium-sized bowl for holding food, and place it over the glazed bowl with curved sides.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl on top.",
+    "Take the ceramic bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the curved bowl light blue shade over it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode170.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode170.json
new file mode 100644
index 0000000000000000000000000000000000000000..411aa4b14b7d67d1553744702032e50795a8c6d3
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode170.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the glazed bowl with curved sides, align the blue bowl with slightly rounded base, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food on top of the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the bowl with shiny texture, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the left arm.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Align the glazed bowl with curved sides and the bowl with shiny texture, then stack the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.",
+    "Lift the small bowl with brown edge, then stack it on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl on top.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the curved bowl light blue shade, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Lift the ceramic bowl, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down and stack the glazed bowl with curved sides on top.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl to stack above.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the ceramic bowl and position it neatly over the glazed bowl with curved sides.",
+    "Arrange the medium-sized bowl for holding food, lift the small bowl with brown edge with the arm, and stack them.",
+    "Position the bowl with brown outer rim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on it.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl on top.",
+    "Stack the dark inside bowl light blue outside carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the bowl with shiny texture carefully on the curved bowl light blue shade.",
+    "Set the ceramic bowl down, then add the blue bowl over it.",
+    "Position the glazed bowl with curved sides and stack the small bowl with brown edge securely onto it.",
+    "Set the ceramic bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Take the small bowl with brown edge, align the dark inside bowl light blue outside, and stack them.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides above it.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.",
+    "Pick up the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "With the right arm, lift the bowl with shiny texture and stack the dark inside bowl light blue outside using the left arm.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Align the small bowl with brown edge over the bowl with brown outer rim, then complete the stack.",
+    "Lift the small bowl with brown edge, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, place the rounded bowl with light blue color above, and let go.",
+    "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "the blue bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the small bowl with brown edge.",
+    "Arrange the blue bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Pick the blue bowl, then stack the curved bowl light blue shade on it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl on top.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with brown outer rim.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl using the left arm.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base to create the stack.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Take the bowl with brown outer rim, align the bowl with brown outer rim, and stack them.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode171.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode171.json
new file mode 100644
index 0000000000000000000000000000000000000000..175673ffa23310f23d697cad1d830c2cff0107a4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode171.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Align the ceramic bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Take the medium-sized bowl for holding food, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the glazed bowl with curved sides over it.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the right arm.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Take the blue bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Take the ceramic bowl, align the small bowl with brown edge, and stack them.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Lift the blue bowl, position the small bowl with brown edge above it, and stack.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Position the medium-sized bowl for holding food carefully on the glazed bowl with curved sides.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade over the blue bowl to create the stack.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Set down the ceramic bowl and drop the small bowl with brown edge on top.",
+    "Pick the bowl with shiny texture, position the ceramic bowl, and place it over the bowl with shiny texture.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl above.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl on top.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Position the rounded bowl with light blue color, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with shiny texture on.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl over it.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Align the ceramic bowl with earthy brown trim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade above it.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the ceramic bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the ceramic bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Use the left arm for the ceramic bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Align the rounded bowl with light blue color over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with shiny texture over it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the right arm.",
+    "Pick up the small bowl with brown edge and set the dark inside bowl light blue outside on it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Arrange the blue bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the blue bowl, place the small bowl with brown edge above, and let go.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the curved bowl light blue shade, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.",
+    "Use the arm to place the bowl with shiny texture, then stack the bowl with brown outer rim on top.",
+    "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.",
+    "Place the blue bowl down and stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the small bowl with brown edge.",
+    "Set the small bowl with brown edge over the medium-sized bowl for holding food to create the stack.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Position the blue bowl and stack the bowl with shiny texture securely onto it.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl on top.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the blue bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl.",
+    "Set the blue bowl down, then add the small bowl with brown edge over it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the small bowl with brown edge, then stack it on the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode172.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode172.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b5bdced30257d74bdeee908c66a3c84a788032b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode172.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the small bowl with brown edge, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Pick up the ceramic bowl using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl on top.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Take the bowl with brown outer rim, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with shiny texture.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, position it, and place the bowl with shiny texture on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the blue bowl, then carefully place the bowl with brown outer rim on top.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the medium-sized bowl for holding food, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl on it.",
+    "Pick the blue bowl, then stack the ceramic bowl on it.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with shiny texture.",
+    "Grab the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Set the rounded bowl with light blue color down, then add the rounded bowl with light blue color over it.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with shiny texture, then complete the stack.",
+    "Lift the ceramic bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with the left arm.",
+    "With the left arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl with slightly rounded base on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Take the small bowl with brown edge, place it, and stack the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Take the bowl with brown outer rim, place the glazed bowl with curved sides above, and let go.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.",
+    "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the small bowl with brown edge, align the small bowl with brown edge, and stack them.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Position the ceramic bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Pick the curved bowl light blue shade, then stack the bowl with brown outer rim on it.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Pick the curved bowl light blue shade, position the blue bowl, and place it over the curved bowl light blue shade.",
+    "Align the rounded bowl with light blue color over the bowl with shiny texture, then complete the stack.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl on top.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base on top of the medium-sized bowl for holding food.",
+    "Use the left arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "With the left arm, lift the ceramic bowl and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Set down the small bowl with brown edge and drop the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode173.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode173.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3068af37c069040097cd49f81486794f0af4fda
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode173.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade on top of the rounded bowl with light blue color.",
+    "Hold the small bowl with brown edge and stack the blue bowl neatly atop.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Set the ceramic bowl down, then add the bowl with shiny texture over it.",
+    "Take the blue bowl, place it, and stack the blue bowl on top.",
+    "Pick up the ceramic bowl and set the small bowl with brown edge on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Hold the glazed bowl with curved sides steady and slide the curved bowl light blue shade on.",
+    "Pick the medium-sized bowl for holding food, position the glazed bowl with curved sides, and place it over the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl above.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with shiny texture above it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, position it, and place the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Lift the small bowl with brown edge and position it neatly over the dark inside bowl light blue outside.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Take the curved bowl light blue shade, align the curved bowl light blue shade, and stack them.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl, and place the blue bowl on the dark inside bowl light blue outside.",
+    "Put the rounded bowl with light blue color first, then bring the dark inside bowl light blue outside to stack above.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the right arm.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the ceramic bowl, then stack it on the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Position the bowl with brown outer rim carefully on the blue bowl with slightly rounded base.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl on top.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.",
+    "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with brown outer rim above.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the curved bowl light blue shade.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "Align the bowl with brown outer rim over the bowl with brown outer rim, then complete the stack.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Put the ceramic bowl first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Arrange the blue bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with brown outer rim.",
+    "Pick the blue bowl, then stack the bowl with brown outer rim on it.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture above it.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the right arm.",
+    "Take the bowl with brown outer rim, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick up the bowl with shiny texture, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Take the ceramic bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge on top of the ceramic bowl.",
+    "Hold the medium-sized bowl for holding food and stack the small bowl with brown edge neatly atop."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode174.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode174.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b32ad68d03ec54e9ce4d21eaddb25df5362230d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode174.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.",
+    "Position the small bowl with brown edge, lift the small bowl with brown edge, and place the small bowl with brown edge on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the medium-sized bowl for holding food on top.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Align the glazed bowl with curved sides and the curved bowl light blue shade, then stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Set the bowl with brown outer rim down, then add the dark inside bowl light blue outside over it.",
+    "Lift the bowl with brown outer rim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the blue bowl using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl above it.",
+    "Position the dark inside bowl light blue outside and stack the small bowl with brown edge securely onto it.",
+    "Pick up the blue bowl using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl directly above.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the left arm.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl.",
+    "Take the small bowl with brown edge, align the small bowl with brown edge, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "the small bowl with brown edge goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl to stack above.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Set down the blue bowl with slightly rounded base and drop the medium-sized bowl for holding food on top.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go.",
+    "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Lift the glazed bowl with curved sides, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the glazed bowl with curved sides with the arm, then set the medium-sized bowl for holding food above it.",
+    "Position the blue bowl and stack the bowl with brown outer rim securely onto it.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with brown outer rim.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "Place the ceramic bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick the blue bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside using the left arm.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the blue bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl.",
+    "the small bowl with brown edge goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Put the blue bowl first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Use the right arm for the ceramic bowl, place it, and stack the small bowl with brown edge with the left arm.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim on top of the glazed bowl with curved sides.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl on it.",
+    "Lift the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.",
+    "Grab the bowl with brown outer rim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode175.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode175.json
new file mode 100644
index 0000000000000000000000000000000000000000..290688e0685b97814a5d6576c92d961ffa94ad25
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode175.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the ceramic bowl and stack the small bowl with brown edge using the right arm.",
+    "Take the blue bowl, place the ceramic bowl above, and let go.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the curved bowl light blue shade.",
+    "Set down the rounded bowl with light blue color and drop the bowl with brown outer rim on top.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Position the bowl with brown outer rim, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with brown outer rim.",
+    "Set the curved bowl light blue shade down, then add the bowl with shiny texture over it.",
+    "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl with slightly rounded base and the ceramic bowl, then stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Use the left arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Grab the blue bowl, position it, and place the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, position the bowl with shiny texture above it, and stack.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the curved bowl light blue shade.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Set the blue bowl over the rounded bowl with light blue color to create the stack.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Grab the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl with slightly rounded base on.",
+    "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, align the medium-sized bowl for holding food, and stack them.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.",
+    "Lift the small bowl with brown edge, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick the dark inside bowl light blue outside, position the small bowl with brown edge, and place it over the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "With the left arm, lift the ceramic bowl and stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl.",
+    "Set the bowl with brown outer rim down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the blue bowl with slightly rounded base down and stack the rounded bowl with light blue color on top.",
+    "Align the dark inside bowl light blue outside and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the glazed bowl with curved sides directly above.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Take the ceramic bowl, place it, and stack the blue bowl on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim above it.",
+    "Stack the medium-sized bowl for holding food carefully over the small bowl with brown edge.",
+    "Align the blue bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Hold the ceramic bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the rounded bowl with light blue color, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the curved bowl light blue shade over the curved bowl light blue shade to create the stack.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge on top of the ceramic bowl.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the glazed bowl with curved sides on.",
+    "Position the bowl with shiny texture carefully on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.",
+    "Position the ceramic bowl with the arm, then set the bowl with shiny texture above it.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Pick up the small bowl with brown edge, place it down, then position the glazed bowl with curved sides on top.",
+    "Pick the glazed bowl with curved sides, position the small bowl with brown edge, and place it over the glazed bowl with curved sides.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the blue bowl on top.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl, and stack the ceramic bowl on the rounded bowl with light blue color.",
+    "Position the ceramic bowl with earthy brown trim and stack the small bowl with brown edge securely onto it.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode176.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode176.json
new file mode 100644
index 0000000000000000000000000000000000000000..e828aef91b03da6762f6adf65c6c0f72a1b4903c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode176.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Place the blue bowl on the surface, then stack the blue bowl above it.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Position the curved bowl light blue shade with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade and position it neatly over the blue bowl.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the medium-sized bowl for holding food, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Put the bowl with brown outer rim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the right arm.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Grab the ceramic bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Pick up the medium-sized bowl for holding food and set the glazed bowl with curved sides on it.",
+    "Hold the medium-sized bowl for holding food and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the ceramic bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "Set down the bowl with shiny texture and drop the curved bowl light blue shade on top.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Arrange the bowl with shiny texture, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl above, and let go.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the curved bowl light blue shade.",
+    "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the bowl with brown outer rim, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with shiny texture.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl over it.",
+    "Pick the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on it.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl.",
+    "Place the blue bowl down, then set the curved bowl light blue shade above it.",
+    "Use the arm to place the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with brown outer rim directly above.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the blue bowl, place it, and stack the small bowl with brown edge on top.",
+    "Grab the bowl with shiny texture, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Grab the blue bowl, then carefully place the ceramic bowl on top.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl.",
+    "Take the ceramic bowl, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Take the glazed bowl with curved sides, align the blue bowl with slightly rounded base, and stack them.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode177.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode177.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeef9b098b4e7f9d17128bdada48391570edc234
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode177.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl, and place the ceramic bowl on the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl rests above.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Take the bowl with shiny texture, align the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the curved bowl light blue shade using the right arm.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.",
+    "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the ceramic bowl and set the dark inside bowl light blue outside on it.",
+    "Align the blue bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Position the curved bowl light blue shade carefully on the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the small bowl with brown edge, position it, and place the glazed bowl with curved sides on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.",
+    "Lift the small bowl with brown edge, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, then stack it on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set down the small bowl with brown edge and drop the rounded bowl with light blue color on top.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Grab the blue bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick the blue bowl, position the small bowl with brown edge, and place it over the blue bowl.",
+    "Take the glazed bowl with curved sides, place it, and stack the blue bowl on top.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with shiny texture.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the right arm.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Set the blue bowl over the glazed bowl with curved sides to create the stack.",
+    "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the right arm.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with shiny texture on.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl over it.",
+    "Place the ceramic bowl down and stack the bowl with shiny texture on top.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with shiny texture on it.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside on top of the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl above, and let go.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.",
+    "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the curved bowl light blue shade above it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the rounded bowl with light blue color, position it, and place the rounded bowl with light blue color on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl on top.",
+    "Hold the glazed bowl with curved sides and stack the curved bowl light blue shade neatly atop.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food above it.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Lift the bowl with brown outer rim, position the bowl with shiny texture above it, and stack."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode178.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode178.json
new file mode 100644
index 0000000000000000000000000000000000000000..30572f141e65ae94147d77db46bcce56a5c9e55e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode178.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the blue bowl with slightly rounded base, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Put the glazed bowl with curved sides first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Hold the glazed bowl with curved sides and stack the curved bowl light blue shade neatly atop.",
+    "Pick the bowl with brown outer rim, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the blue bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl on it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the ceramic bowl and stack the blue bowl securely onto it.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl on top.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Position the bowl with brown outer rim with the arm, then set the curved bowl light blue shade above it.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the bowl with brown outer rim, then carefully place the dark inside bowl light blue outside on top.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Place the ceramic bowl with earthy brown trim down and stack the blue bowl on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Stack the blue bowl with slightly rounded base securely on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl, and set the ceramic bowl on the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides and set the small bowl with brown edge on it.",
+    "Grab the blue bowl, position it, and place the bowl with shiny texture on top.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the rounded bowl with light blue color using the right arm.",
+    "Align the blue bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl.",
+    "Position the blue bowl carefully on the blue bowl with slightly rounded base.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the blue bowl down, then set the bowl with brown outer rim on top of the blue bowl.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Lift the bowl with brown outer rim, position the rounded bowl with light blue color above it, and stack.",
+    "Lift the blue bowl using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Align the bowl with shiny texture over the curved bowl light blue shade, then complete the stack.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides neatly atop.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl, and place the blue bowl on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Pick the rounded bowl with light blue color, then stack the bowl with brown outer rim on it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Take the ceramic bowl, align the rounded bowl with light blue color, and stack them.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "Place the glazed bowl with curved sides on the surface, then stack the small bowl with brown edge above it.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.",
+    "Pick up the ceramic bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Position the bowl with shiny texture with the arm, then set the medium-sized bowl for holding food above it.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl with slightly rounded base on top.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl with slightly rounded base on.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides and set the curved bowl light blue shade on it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Grab the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the small bowl with brown edge using the right arm.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.",
+    "Stack the medium-sized bowl for holding food carefully over the glazed bowl with curved sides.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the small bowl with brown edge with the right arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode179.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode179.json
new file mode 100644
index 0000000000000000000000000000000000000000..e175eea7a47cb610a18f40beadd88334443de934
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode179.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the curved bowl light blue shade, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Use the right arm for the blue bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the glazed bowl with curved sides and stack the bowl with brown outer rim securely onto it.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture on top of the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the rounded bowl with light blue color over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the glazed bowl with curved sides, then stack it on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the right arm.",
+    "Align the blue bowl over the small bowl with brown edge, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the curved bowl light blue shade, grab the small bowl with brown edge, and stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with brown outer rim on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the ceramic bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Set down the small bowl with brown edge and drop the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade, position the bowl with shiny texture above it, and stack.",
+    "the ceramic bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Hold the blue bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Pick up the small bowl with brown edge, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the small bowl with brown edge over it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Align the bowl with shiny texture and the blue bowl, then stack the blue bowl on the bowl with shiny texture.",
+    "Pick the blue bowl, position the rounded bowl with light blue color, and place it over the blue bowl.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl over it.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go.",
+    "Pick up the dark inside bowl light blue outside and set the glazed bowl with curved sides on it.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with the right arm.",
+    "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with shiny texture above.",
+    "Position the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "With the right arm, lift the ceramic bowl and stack the curved bowl light blue shade using the right arm.",
+    "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl on top.",
+    "Pick up the ceramic bowl, grab the blue bowl, and stack the blue bowl on the ceramic bowl.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the glazed bowl with curved sides over it.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Lift the ceramic bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on it.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl on.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Stack the blue bowl securely on top of the medium-sized bowl for holding food.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge above it.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Hold the blue bowl and stack the blue bowl neatly atop.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the glazed bowl with curved sides and the bowl with brown outer rim, then stack the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode18.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode18.json
new file mode 100644
index 0000000000000000000000000000000000000000..04059e108945355f2abc458709cde6f009a7da60
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode18.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Set the blue bowl down, then add the bowl with brown outer rim over it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the rounded bowl with light blue color over it.",
+    "Grab the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl, and stack the ceramic bowl on the glazed bowl with curved sides.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl above it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the medium-sized bowl for holding food.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "With the right arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Set the bowl with brown outer rim over the medium-sized bowl for holding food to create the stack.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Take the bowl with shiny texture, align the rounded bowl with light blue color, and stack them.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl, and set the blue bowl on the medium-sized bowl for holding food.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Grab the blue bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the curved bowl light blue shade, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Align the dark inside bowl light blue outside over the glazed bowl with curved sides, then complete the stack.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on it.",
+    "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl on top.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Pick up the bowl with brown outer rim and set the rounded bowl with light blue color on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl above it.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Arrange the bowl with brown outer rim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the medium-sized bowl for holding food above it.",
+    "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the bowl with shiny texture to stack above.",
+    "Take the ceramic bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl with earthy brown trim on.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl with slightly rounded base.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the rounded bowl with light blue color using the left arm.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl neatly atop.",
+    "Take the small bowl with brown edge, align the medium-sized bowl for holding food, and stack them.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim above it.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Grab the blue bowl, then carefully place the blue bowl on top.",
+    "Lift the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Position the rounded bowl with light blue color, lift the bowl with shiny texture, and place the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the dark inside bowl light blue outside on top."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode180.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode180.json
new file mode 100644
index 0000000000000000000000000000000000000000..96911a3093310e25ad8890322f8bd0d725ec2e1c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode180.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.",
+    "Set down the dark inside bowl light blue outside and drop the small bowl with brown edge on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the bowl with shiny texture and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the blue bowl, grab the blue bowl, and set the blue bowl on the blue bowl.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Pick the ceramic bowl with earthy brown trim, position the small bowl with brown edge, and place it over the ceramic bowl with earthy brown trim.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the rounded bowl with light blue color, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Align the rounded bowl with light blue color and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Take the small bowl with brown edge, position it, then stack the dark inside bowl light blue outside directly above.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Align the bowl with shiny texture over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the blue bowl over it.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the bowl with shiny texture, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture, place it down, then position the rounded bowl with light blue color on top.",
+    "Stack the bowl with brown outer rim carefully over the bowl with shiny texture.",
+    "Lift the ceramic bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl above it.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with the right arm.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the right arm.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with shiny texture over it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Take the glazed bowl with curved sides, align the curved bowl light blue shade, and stack them.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "Put the rounded bowl with light blue color first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the blue bowl, then stack it on the blue bowl.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.",
+    "Lift the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Place the blue bowl on the surface, then stack the blue bowl above it.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim and set the small bowl with brown edge on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, position the small bowl with brown edge, and place it over the curved bowl light blue shade.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "Align the blue bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the curved bowl light blue shade on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food with the arm, then set the blue bowl above it.",
+    "Grab the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the dark inside bowl light blue outside on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the curved bowl light blue shade with the right arm.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the right arm.",
+    "Position the dark inside bowl light blue outside, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the bowl with shiny texture, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with brown outer rim.",
+    "Set down the bowl with brown outer rim and drop the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode181.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode181.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e4fcb8633aca7e4f5f9cea1ab040367e45afa2f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode181.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim above it.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Set the ceramic bowl over the medium-sized bowl for holding food to create the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the curved bowl light blue shade, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food, position it, and place the bowl with shiny texture on top.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the medium-sized bowl for holding food and stack the dark inside bowl light blue outside securely onto it.",
+    "Place the glazed bowl with curved sides down and stack the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.",
+    "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Position the dark inside bowl light blue outside with the arm, then set the rounded bowl with light blue color above it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the left arm.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the blue bowl with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Set down the small bowl with brown edge and drop the glazed bowl with curved sides on top.",
+    "Pick the bowl with brown outer rim, position the bowl with shiny texture, and place it over the bowl with brown outer rim.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "With the left arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the small bowl with brown edge, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Lift the blue bowl and position it neatly over the curved bowl light blue shade.",
+    "Stack the blue bowl with slightly rounded base securely on top of the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Position the ceramic bowl carefully on the bowl with shiny texture.",
+    "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Grab the curved bowl light blue shade, position it, and place the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Align the blue bowl and the blue bowl, then stack the blue bowl on the blue bowl.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge on top of the ceramic bowl.",
+    "Take the blue bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Set the bowl with brown outer rim down, then add the medium-sized bowl for holding food over it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Align the ceramic bowl with earthy brown trim over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the bowl with shiny texture, position it, then stack the curved bowl light blue shade directly above.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Put the bowl with shiny texture first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.",
+    "Pick the glazed bowl with curved sides, position the medium-sized bowl for holding food, and place it over the glazed bowl with curved sides.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on it.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top.",
+    "the blue bowl goes at the bottom, the blue bowl rests above.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "With the left arm, lift the curved bowl light blue shade and stack the curved bowl light blue shade using the left arm.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with brown outer rim.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture above it.",
+    "Position the blue bowl carefully on the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode182.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode182.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c57c48bde938fe0beb352722c5e4f85d24b176
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode182.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides on top of the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl over it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Place the blue bowl down and stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Pick the curved bowl light blue shade, then stack the bowl with shiny texture on it.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with brown outer rim on top.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the blue bowl, then carefully place the rounded bowl with light blue color on top.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with brown outer rim on.",
+    "Pick up the ceramic bowl with earthy brown trim and set the medium-sized bowl for holding food on it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with shiny texture.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Arrange the bowl with shiny texture, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl to stack above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food securely onto it.",
+    "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the rounded bowl with light blue color.",
+    "Set the dark inside bowl light blue outside down, then add the small bowl with brown edge over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim on top of the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.",
+    "Pick the curved bowl light blue shade, position on the table, and place the glazed bowl with curved sides over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with the right arm.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl over it.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl above it, and stack.",
+    "Set the blue bowl with slightly rounded base over the small bowl with brown edge to create the stack.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the right arm.",
+    "Grab the medium-sized bowl for holding food, position it, and place the glazed bowl with curved sides on top.",
+    "Align the blue bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the right arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl on.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl with earthy brown trim.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with brown outer rim on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the dark inside bowl light blue outside, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Grab the blue bowl with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl and stack the blue bowl securely onto it.",
+    "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Place the blue bowl on the surface, then stack the blue bowl above it.",
+    "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode183.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode183.json
new file mode 100644
index 0000000000000000000000000000000000000000..098c0f0cd980f3b8256a84e70b949afca13193f8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode183.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm for the blue bowl, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base on top of the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Set down the dark inside bowl light blue outside and drop the small bowl with brown edge on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Pick the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim, and place it over the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl on it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.",
+    "Hold the bowl with shiny texture steady and slide the dark inside bowl light blue outside on.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Put the ceramic bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the small bowl with brown edge, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Set the small bowl with brown edge down, then add the rounded bowl with light blue color over it.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the bowl with brown outer rim directly above.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Pick up the rounded bowl with light blue color, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the left arm.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Position the rounded bowl with light blue color and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Stack the small bowl with brown edge securely on top of the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, position the blue bowl above it, and stack.",
+    "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Take the medium-sized bowl for holding food, align the bowl with brown outer rim, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the curved bowl light blue shade on it.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food on top of the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl carefully over the ceramic bowl.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Align the ceramic bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl using the left arm.",
+    "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl rests above.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Arrange the blue bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Grab the curved bowl light blue shade, position it, and place the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "With the left arm, lift the small bowl with brown edge and stack the dark inside bowl light blue outside using the left arm.",
+    "Take the blue bowl, place it, and stack the small bowl with brown edge on top.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Stack the ceramic bowl securely on top of the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, position the bowl with shiny texture above it, and stack.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Take the dark inside bowl light blue outside, align the bowl with brown outer rim, and stack them."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode184.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode184.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9abccbfad2a51c79b980352abbd3d30fd67b893
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode184.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.",
+    "With the left arm, lift the small bowl with brown edge and stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the blue bowl carefully over the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim neatly atop.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Pick up the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the glazed bowl with curved sides.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl, then stack the curved bowl light blue shade on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the dark inside bowl light blue outside, position the curved bowl light blue shade above it, and stack.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick up the glazed bowl with curved sides and set the bowl with brown outer rim on it.",
+    "Position the bowl with brown outer rim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the curved bowl light blue shade to stack above.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Place the ceramic bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the bowl with brown outer rim, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the blue bowl with slightly rounded base.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with brown outer rim, then complete the stack.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the rounded bowl with light blue color on top.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside on top of the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the right arm.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Hold the bowl with brown outer rim and stack the medium-sized bowl for holding food neatly atop.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl, and stack the blue bowl on the curved bowl light blue shade.",
+    "Hold the blue bowl with slightly rounded base steady and slide the medium-sized bowl for holding food on.",
+    "Take the ceramic bowl with earthy brown trim, align the small bowl with brown edge, and stack them.",
+    "Position the bowl with brown outer rim and stack the blue bowl with slightly rounded base securely onto it.",
+    "Set down the small bowl with brown edge and drop the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge and position it neatly over the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the ceramic bowl, position the small bowl with brown edge above it, and stack.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with shiny texture with the right arm.",
+    "Pick up the medium-sized bowl for holding food and set the small bowl with brown edge on it.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Put the medium-sized bowl for holding food first, then bring the glazed bowl with curved sides to stack above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade above it.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Align the ceramic bowl over the curved bowl light blue shade, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl directly above.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position the blue bowl with slightly rounded base, and place it over the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with the arm, and stack them."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode185.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode185.json
new file mode 100644
index 0000000000000000000000000000000000000000..99f85794a00e1326186c9333d998de576b622f37
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode185.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Set the blue bowl with slightly rounded base over the blue bowl to create the stack.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides above it.",
+    "Hold the blue bowl with slightly rounded base and stack the rounded bowl with light blue color neatly atop.",
+    "Lift the rounded bowl with light blue color, position the bowl with shiny texture above it, and stack.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl on.",
+    "Pick up the blue bowl using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl rests above.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food on top of the blue bowl.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the left arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the small bowl with brown edge on top.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with shiny texture on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Align the bowl with brown outer rim over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the glazed bowl with curved sides and position it neatly over the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.",
+    "Position the small bowl with brown edge and stack the rounded bowl with light blue color securely onto it.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Position the dark inside bowl light blue outside carefully on the dark inside bowl light blue outside.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color above it.",
+    "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.",
+    "Lift the ceramic bowl, position the small bowl with brown edge above it, and stack.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl using the left arm.",
+    "Arrange the bowl with shiny texture, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the ceramic bowl, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl, and place the ceramic bowl on the dark inside bowl light blue outside.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go.",
+    "Align the ceramic bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl above it.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides on top of the dark inside bowl light blue outside.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the left arm.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl, and set the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Lift the rounded bowl with light blue color and position it neatly over the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the small bowl with brown edge on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode186.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode186.json
new file mode 100644
index 0000000000000000000000000000000000000000..1711b8ac26b1a54e2f6795bf66538b21dc32109a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode186.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Align the curved bowl light blue shade over the curved bowl light blue shade, then complete the stack.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl, and set the blue bowl on the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with shiny texture over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the bowl with shiny texture.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the small bowl with brown edge over it.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Pick up the blue bowl and set the dark inside bowl light blue outside on it.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside on top of the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the rounded bowl with light blue color.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl above it.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Hold the bowl with shiny texture and stack the small bowl with brown edge neatly atop.",
+    "Lift the glazed bowl with curved sides and position it neatly over the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture, grab the bowl with shiny texture, and stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Set the blue bowl down, then add the small bowl with brown edge over it.",
+    "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Position the blue bowl with slightly rounded base and stack the curved bowl light blue shade securely onto it.",
+    "Arrange the glazed bowl with curved sides, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the small bowl with brown edge, then carefully place the medium-sized bowl for holding food on top.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl to stack above.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, align the curved bowl light blue shade, and stack them.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim above it.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Hold the blue bowl steady and slide the glazed bowl with curved sides on.",
+    "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl above.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with shiny texture.",
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with brown outer rim on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl, and place it over the medium-sized bowl for holding food.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the rounded bowl with light blue color above it.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl above, and let go.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the rounded bowl with light blue color, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl, then stack the bowl with brown outer rim on it.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Arrange the rounded bowl with light blue color, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the small bowl with brown edge on top.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the medium-sized bowl for holding food, position it, and place the glazed bowl with curved sides on top.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Stack the ceramic bowl securely on top of the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode187.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode187.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94b7d003a6b1daef181d7b0d655b0c47726339d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode187.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Stack the blue bowl securely on top of the blue bowl.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Stack the ceramic bowl carefully over the ceramic bowl.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with shiny texture on top.",
+    "Pick up the ceramic bowl and set the medium-sized bowl for holding food on it.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the blue bowl using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with brown outer rim directly above.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the ceramic bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the small bowl with brown edge over it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl on top of the small bowl with brown edge.",
+    "Set the small bowl with brown edge over the small bowl with brown edge to create the stack.",
+    "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the dark inside bowl light blue outside on top.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the rounded bowl with light blue color, grab the small bowl with brown edge, and set the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.",
+    "Stack the ceramic bowl carefully over the dark inside bowl light blue outside.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.",
+    "Grab the blue bowl, position it, and place the small bowl with brown edge on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture and set the blue bowl on it.",
+    "Arrange the blue bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl with slightly rounded base.",
+    "Set the blue bowl down, then add the rounded bowl with light blue color over it.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Hold the bowl with shiny texture steady and slide the medium-sized bowl for holding food on.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with shiny texture to create the stack.",
+    "Place the blue bowl with slightly rounded base down and stack the glazed bowl with curved sides on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, position the bowl with shiny texture above it, and stack.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with brown outer rim.",
+    "Take the medium-sized bowl for holding food, align the bowl with shiny texture, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base, then complete the stack.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl with slightly rounded base on top."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode188.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode188.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3616001daa0af62eaf745652163bace7a90baf4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode188.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture above it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl and set the bowl with shiny texture on it.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the medium-sized bowl for holding food on top.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl on top.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Stack the curved bowl light blue shade carefully over the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Put the ceramic bowl first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.",
+    "Position the glazed bowl with curved sides carefully on the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.",
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Set the blue bowl over the ceramic bowl to create the stack.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Take the curved bowl light blue shade, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with shiny texture over it.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with shiny texture.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl on top of the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge above it.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl, and stack the ceramic bowl on the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim and set the curved bowl light blue shade on it.",
+    "Grab the bowl with shiny texture, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Hold the ceramic bowl steady and slide the glazed bowl with curved sides on.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick up the bowl with brown outer rim, place it down, then position the small bowl with brown edge on top.",
+    "Take the glazed bowl with curved sides, align the blue bowl, and stack them.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Stack the small bowl with brown edge carefully over the small bowl with brown edge.",
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl with slightly rounded base over it.",
+    "Put the rounded bowl with light blue color first, then bring the rounded bowl with light blue color to stack above.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, grab the small bowl with brown edge, and set the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the rounded bowl with light blue color, position it, then stack the curved bowl light blue shade directly above.",
+    "Align the glazed bowl with curved sides and the curved bowl light blue shade, then stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it.",
+    "Position the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food securely onto it.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim and stack the bowl with brown outer rim neatly atop.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Grab the bowl with brown outer rim, set it down, then place the glazed bowl with curved sides over it.",
+    "Take the curved bowl light blue shade, place the ceramic bowl above, and let go.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick the small bowl with brown edge, then stack the rounded bowl with light blue color on it.",
+    "the small bowl with brown edge goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl down, then set the rounded bowl with light blue color on top of the blue bowl.",
+    "Lift the ceramic bowl and position it neatly over the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the left arm."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode189.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode189.json
new file mode 100644
index 0000000000000000000000000000000000000000..439ce1292b1e15d68a4daf3387080c3d3134e305
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode189.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl with earthy brown trim, and place it over the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Stack the bowl with shiny texture carefully over the medium-sized bowl for holding food.",
+    "With the left arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the left arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Place the glazed bowl with curved sides on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the curved bowl light blue shade, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick up the ceramic bowl and set the glazed bowl with curved sides on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Grab the blue bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color above it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.",
+    "Take the blue bowl, place it, and stack the curved bowl light blue shade on top.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Set the bowl with brown outer rim over the glazed bowl with curved sides to create the stack.",
+    "Lift the dark inside bowl light blue outside, position the curved bowl light blue shade above it, and stack.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with the arm, and stack them.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the medium-sized bowl for holding food over it.",
+    "the bowl with shiny texture goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Align the dark inside bowl light blue outside and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with shiny texture neatly atop.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Stack the glazed bowl with curved sides securely on top of the rounded bowl with light blue color.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Position the glazed bowl with curved sides with the arm, then set the dark inside bowl light blue outside above it.",
+    "Position the bowl with brown outer rim carefully on the curved bowl light blue shade.",
+    "Grab the blue bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Pick the small bowl with brown edge, position the blue bowl, and place it over the small bowl with brown edge.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the blue bowl using the left arm.",
+    "Pick the bowl with shiny texture, then stack the bowl with shiny texture on it.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "With the left arm, lift the small bowl with brown edge and stack the ceramic bowl using the left arm.",
+    "Lift the ceramic bowl and position it neatly over the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the blue bowl and set the bowl with brown outer rim on it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Lift the ceramic bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl with earthy brown trim on.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl over it.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Hold the medium-sized bowl for holding food and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the medium-sized bowl for holding food, align the rounded bowl with light blue color, and stack them.",
+    "Pick up the blue bowl using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Stack the medium-sized bowl for holding food securely on top of the small bowl with brown edge.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with brown outer rim on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with shiny texture above it.",
+    "Position the blue bowl with slightly rounded base carefully on the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.",
+    "Place the ceramic bowl down, then set the ceramic bowl on top of the ceramic bowl.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with shiny texture over it.",
+    "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode19.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode19.json
new file mode 100644
index 0000000000000000000000000000000000000000..bffac05517786af518927f6c381f7458947e8193
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode19.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides above it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with shiny texture above.",
+    "Set the ceramic bowl over the bowl with shiny texture to create the stack.",
+    "Align the bowl with shiny texture over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the blue bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Place the small bowl with brown edge on the surface, then stack the small bowl with brown edge above it.",
+    "Take the small bowl with brown edge, place the blue bowl with slightly rounded base above, and let go.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Position the ceramic bowl carefully on the small bowl with brown edge.",
+    "Grab the blue bowl with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the blue bowl, position the blue bowl above it, and stack.",
+    "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Position the bowl with brown outer rim, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with brown outer rim.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color on top of the glazed bowl with curved sides.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Take the ceramic bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the bowl with shiny texture, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Put the curved bowl light blue shade first, then bring the rounded bowl with light blue color to stack above.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the small bowl with brown edge.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.",
+    "Set the dark inside bowl light blue outside down, then add the medium-sized bowl for holding food over it.",
+    "Stack the blue bowl carefully over the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the bowl with shiny texture above it.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "Position the bowl with shiny texture carefully on the blue bowl.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the curved bowl light blue shade and set the blue bowl on it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the small bowl with brown edge.",
+    "Lift the blue bowl and position it neatly over the blue bowl.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl neatly atop.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "the bowl with brown outer rim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, grab the ceramic bowl, and set the ceramic bowl on the blue bowl.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "With the left arm, lift the blue bowl and stack the small bowl with brown edge using the right arm.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the blue bowl securely on top of the blue bowl.",
+    "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the small bowl with brown edge over it.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl with slightly rounded base on.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode190.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode190.json
new file mode 100644
index 0000000000000000000000000000000000000000..957748db7ff9eb9612120e06870938378af71cf7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode190.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the bowl with shiny texture and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Lift the ceramic bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Grab the ceramic bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "With the right arm, lift the bowl with shiny texture and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with the arm, and stack them.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Lift the bowl with brown outer rim, then stack it on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Pick up the blue bowl using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Pick the blue bowl, position the small bowl with brown edge, and place it over the blue bowl.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Take the blue bowl with slightly rounded base, place the curved bowl light blue shade above, and let go.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Set the bowl with brown outer rim over the ceramic bowl to create the stack.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Set down the small bowl with brown edge and drop the blue bowl with slightly rounded base on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl with slightly rounded base.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Hold the dark inside bowl light blue outside steady and slide the curved bowl light blue shade on.",
+    "the dark inside bowl light blue outside goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Put the rounded bowl with light blue color first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick up the blue bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Take the bowl with shiny texture, align the curved bowl light blue shade, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the blue bowl directly above.",
+    "Align the blue bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl.",
+    "Align the blue bowl over the blue bowl, then complete the stack.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Lift the blue bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl over it.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with shiny texture.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the ceramic bowl using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down and stack the rounded bowl with light blue color on top.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with shiny texture, and stack them.",
+    "Use the arm to place the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Place the blue bowl down, then set the curved bowl light blue shade on top of the blue bowl.",
+    "Place the blue bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Take the small bowl with brown edge, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Position the bowl with brown outer rim and stack the bowl with brown outer rim securely onto it.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the ceramic bowl with earthy brown trim and set the medium-sized bowl for holding food on it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with shiny texture above it.",
+    "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with the right arm.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the bowl with brown outer rim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Take the ceramic bowl, align the rounded bowl with light blue color, and stack them.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, position it, then stack the small bowl with brown edge directly above.",
+    "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode191.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode191.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cbe91f223cad9d394ed2b21412c416dec3516ea
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode191.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl on top.",
+    "Lift the ceramic bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Set the ceramic bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "With the left arm, lift the blue bowl and stack the bowl with shiny texture using the right arm.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Align the curved bowl light blue shade and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Use the arm to place the ceramic bowl, then stack the small bowl with brown edge on top.",
+    "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with shiny texture, and stack them.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl above it, and stack.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Arrange the medium-sized bowl for holding food, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the ceramic bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Set down the blue bowl and drop the blue bowl on top.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl securely onto it.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, then stack it on the curved bowl light blue shade.",
+    "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the ceramic bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Take the small bowl with brown edge, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.",
+    "Position the bowl with brown outer rim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl on it.",
+    "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides above it.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Place the curved bowl light blue shade down and stack the small bowl with brown edge on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the blue bowl, grab the ceramic bowl, and set the ceramic bowl on the blue bowl.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "With the left arm, lift the bowl with shiny texture and stack the bowl with shiny texture using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Use the arm to place the blue bowl, then stack the blue bowl on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the ceramic bowl, set it down, then place the bowl with shiny texture over it.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl above it, and stack.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Position the curved bowl light blue shade carefully on the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the curved bowl light blue shade directly above.",
+    "Arrange the bowl with brown outer rim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick up the small bowl with brown edge, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl, and place it over the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim and position it neatly over the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Position the bowl with shiny texture with the arm, then set the glazed bowl with curved sides above it.",
+    "Use the left arm for the blue bowl, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the bowl with shiny texture, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Pick the bowl with shiny texture, then stack the dark inside bowl light blue outside on it.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl rests above.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with brown outer rim on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode192.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode192.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e014e145115f43f8dc349a244cf1e738491dc2
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode192.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the blue bowl with slightly rounded base, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food on top of the blue bowl.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Position the bowl with brown outer rim carefully on the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Arrange the ceramic bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Position the bowl with shiny texture and stack the bowl with brown outer rim securely onto it.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the glazed bowl with curved sides, position the blue bowl above it, and stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl with earthy brown trim on.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Take the curved bowl light blue shade, position it, then stack the bowl with brown outer rim directly above.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Stack the bowl with shiny texture carefully over the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside above it.",
+    "Set down the ceramic bowl and drop the glazed bowl with curved sides on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl using the left arm.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the blue bowl, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Stack the bowl with brown outer rim securely on top of the glazed bowl with curved sides.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position the ceramic bowl, and place it over the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade on top of the blue bowl with slightly rounded base.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl on top.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.",
+    "Position the ceramic bowl carefully on the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Pick up the blue bowl and set the blue bowl with slightly rounded base on it.",
+    "Take the curved bowl light blue shade, place the rounded bowl with light blue color above, and let go.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.",
+    "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.",
+    "Put the blue bowl first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the curved bowl light blue shade.",
+    "the blue bowl with slightly rounded base goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the curved bowl light blue shade, position the curved bowl light blue shade above it, and stack.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Take the blue bowl, align the curved bowl light blue shade, and stack them.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Set the ceramic bowl over the bowl with brown outer rim to create the stack.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base above it.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the blue bowl and stack the rounded bowl with light blue color using the left arm.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the left arm.",
+    "Position the bowl with shiny texture with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the ceramic bowl, then stack it on the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Align the rounded bowl with light blue color over the dark inside bowl light blue outside, then complete the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Position the bowl with brown outer rim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with shiny texture over it."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode193.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode193.json
new file mode 100644
index 0000000000000000000000000000000000000000..b581046e048dd22061106092fa36f28aa2aaf618
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode193.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Take the blue bowl, align the rounded bowl with light blue color, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Hold the bowl with brown outer rim steady and slide the small bowl with brown edge on.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the blue bowl using the left arm.",
+    "Grab the rounded bowl with light blue color, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on top.",
+    "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Place the blue bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl securely onto it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with brown outer rim on top.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Set the ceramic bowl over the blue bowl to create the stack.",
+    "Pick up the ceramic bowl, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl with slightly rounded base on it.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl, and place the ceramic bowl on the bowl with brown outer rim.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the blue bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "With the right arm, lift the ceramic bowl and stack the glazed bowl with curved sides using the left arm.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the ceramic bowl, position it, then stack the blue bowl directly above.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Place the curved bowl light blue shade down and stack the bowl with brown outer rim on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Take the small bowl with brown edge, place it, and stack the small bowl with brown edge on top.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Stack the ceramic bowl securely on top of the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim, then carefully place the rounded bowl with light blue color on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl using the left arm.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Arrange the rounded bowl with light blue color, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the ceramic bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Position the blue bowl carefully on the bowl with brown outer rim.",
+    "Align the bowl with brown outer rim over the blue bowl, then complete the stack.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl, position the bowl with shiny texture, and place it over the blue bowl.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.",
+    "Pick up the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Pick up the bowl with brown outer rim and set the blue bowl on it.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Hold the bowl with brown outer rim and stack the bowl with brown outer rim neatly atop.",
+    "the curved bowl light blue shade goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "With the right arm, lift the blue bowl and stack the dark inside bowl light blue outside using the left arm.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside above it.",
+    "Place the bowl with brown outer rim down and stack the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the bowl with shiny texture, position the bowl with shiny texture above it, and stack.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside on top."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode194.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode194.json
new file mode 100644
index 0000000000000000000000000000000000000000..897559100ee99f404212eb1a3498da3de8f9559b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode194.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color above it, and stack.",
+    "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Lift the blue bowl, then stack it on the bowl with shiny texture.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl over it.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Set the small bowl with brown edge over the rounded bowl with light blue color to create the stack.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the right arm.",
+    "Take the ceramic bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Put the bowl with brown outer rim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Pick up the glazed bowl with curved sides and set the small bowl with brown edge on it.",
+    "Hold the small bowl with brown edge steady and slide the rounded bowl with light blue color on.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with shiny texture.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl rests above.",
+    "Lift the bowl with brown outer rim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Stack the ceramic bowl carefully over the ceramic bowl.",
+    "Position the blue bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl on top.",
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the small bowl with brown edge above.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Stack the blue bowl securely on top of the rounded bowl with light blue color.",
+    "Set the ceramic bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the glazed bowl with curved sides on top.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the rounded bowl with light blue color, then stack it on the glazed bowl with curved sides.",
+    "Hold the curved bowl light blue shade and stack the blue bowl neatly atop.",
+    "Place the blue bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Align the curved bowl light blue shade over the blue bowl with slightly rounded base, then complete the stack.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the right arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Align the dark inside bowl light blue outside and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Take the bowl with brown outer rim, align the bowl with shiny texture, and stack them.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the ceramic bowl and set the rounded bowl with light blue color on it.",
+    "Hold the blue bowl steady and slide the blue bowl on.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Position the glazed bowl with curved sides carefully on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the rounded bowl with light blue color.",
+    "Stack the bowl with shiny texture carefully over the small bowl with brown edge.",
+    "Position the bowl with brown outer rim with the arm, then set the bowl with shiny texture above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set down the bowl with brown outer rim and drop the curved bowl light blue shade on top.",
+    "Grab the small bowl with brown edge, position it, and place the rounded bowl with light blue color on top.",
+    "Take the curved bowl light blue shade, place the curved bowl light blue shade above, and let go.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack.",
+    "Position the glazed bowl with curved sides, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode195.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode195.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c4eccde21a96a0bf4157ca12b86f2e6b45f51de
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode195.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark inside bowl light blue outside and stack the ceramic bowl neatly atop.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base on top of the glazed bowl with curved sides.",
+    "Position the blue bowl carefully on the blue bowl.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with brown outer rim on top.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Set the ceramic bowl over the ceramic bowl to create the stack.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl over it.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Set the blue bowl with slightly rounded base down, then add the blue bowl with slightly rounded base over it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "Pick the medium-sized bowl for holding food, position the curved bowl light blue shade, and place it over the medium-sized bowl for holding food.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Position the ceramic bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Position the bowl with brown outer rim and stack the glazed bowl with curved sides securely onto it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick the bowl with shiny texture, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl above it, and stack.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Hold the dark inside bowl light blue outside and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food on top of the small bowl with brown edge.",
+    "Position the small bowl with brown edge carefully on the bowl with brown outer rim.",
+    "Put the glazed bowl with curved sides first, then bring the small bowl with brown edge to stack above.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl on top.",
+    "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.",
+    "Place the medium-sized bowl for holding food down and stack the medium-sized bowl for holding food on top.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Lift the bowl with shiny texture and position it neatly over the small bowl with brown edge.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the small bowl with brown edge, set it down, then place the ceramic bowl over it.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the blue bowl and set the blue bowl with slightly rounded base on it.",
+    "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with brown outer rim.",
+    "Hold the curved bowl light blue shade steady and slide the dark inside bowl light blue outside on.",
+    "Position the curved bowl light blue shade and stack the dark inside bowl light blue outside securely onto it.",
+    "Use the right arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the blue bowl, then stack the ceramic bowl on top.",
+    "With the right arm, lift the blue bowl and stack the blue bowl with slightly rounded base using the right arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.",
+    "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Stack the bowl with brown outer rim securely on top of the dark inside bowl light blue outside.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl above it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Align the blue bowl with slightly rounded base over the glazed bowl with curved sides, then complete the stack.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Pick the small bowl with brown edge, then stack the blue bowl with slightly rounded base on it.",
+    "Arrange the bowl with shiny texture, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode196.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode196.json
new file mode 100644
index 0000000000000000000000000000000000000000..a94e6c3a587b23c319d3b8047b1b7533a7f36838
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode196.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Align the curved bowl light blue shade over the glazed bowl with curved sides, then complete the stack.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Take the blue bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Position the bowl with brown outer rim carefully on the medium-sized bowl for holding food.",
+    "Grab the blue bowl, then carefully place the bowl with shiny texture on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl above.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the small bowl with brown edge on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the small bowl with brown edge on top.",
+    "Take the bowl with shiny texture, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the bowl with shiny texture and position it neatly over the ceramic bowl.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Set the curved bowl light blue shade over the rounded bowl with light blue color to create the stack.",
+    "the blue bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Hold the small bowl with brown edge and stack the blue bowl neatly atop.",
+    "Pick the small bowl with brown edge, position the curved bowl light blue shade, and place it over the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food above it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the curved bowl light blue shade.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.",
+    "Grab the bowl with shiny texture, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the ceramic bowl, then stack the small bowl with brown edge on it.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Align the blue bowl over the bowl with shiny texture, then complete the stack.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Place the rounded bowl with light blue color down, then set the small bowl with brown edge on top of the rounded bowl with light blue color.",
+    "Take the bowl with brown outer rim, align the curved bowl light blue shade, and stack them.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with brown outer rim over it.",
+    "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.",
+    "Take the ceramic bowl, place it, and stack the blue bowl on top.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the blue bowl and set the rounded bowl with light blue color on it.",
+    "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.",
+    "Grab the glazed bowl with curved sides, then carefully place the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with shiny texture down and stack the bowl with brown outer rim on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set the glazed bowl with curved sides over the glazed bowl with curved sides to create the stack.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with shiny texture rests above.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick the dark inside bowl light blue outside, position the dark inside bowl light blue outside, and place it over the dark inside bowl light blue outside.",
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim above it.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "With the left arm, lift the blue bowl and stack the curved bowl light blue shade using the right arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the rounded bowl with light blue color, then stack the bowl with brown outer rim on it.",
+    "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.",
+    "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode197.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode197.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b0e9e66d6ed9aacdc5faf4fdeca12120291a08
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode197.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the glazed bowl with curved sides down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Take the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with shiny texture and set the blue bowl on it.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with shiny texture with the right arm.",
+    "Hold the blue bowl steady and slide the glazed bowl with curved sides on.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with shiny texture directly above.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Take the medium-sized bowl for holding food, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl.",
+    "Take the blue bowl with slightly rounded base, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the curved bowl light blue shade and position it neatly over the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl above it, and stack.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Position the rounded bowl with light blue color carefully on the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Lift the ceramic bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "With the left arm, lift the small bowl with brown edge and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside on top of the bowl with brown outer rim.",
+    "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.",
+    "Pick the small bowl with brown edge, then stack the curved bowl light blue shade on it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl rests above.",
+    "Pick the dark inside bowl light blue outside, position the dark inside bowl light blue outside, and place it over the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with shiny texture on it.",
+    "Align the bowl with brown outer rim over the rounded bowl with light blue color, then complete the stack.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "Lift the curved bowl light blue shade, then stack it on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Lift the small bowl with brown edge and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, position the blue bowl above it, and stack.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl above.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the small bowl with brown edge, grab the bowl with shiny texture, and stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl using the right arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with shiny texture over it.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the small bowl with brown edge securely onto it.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Align the bowl with brown outer rim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the glazed bowl with curved sides on top.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then stack the bowl with brown outer rim on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the blue bowl, set it down, then place the small bowl with brown edge over it.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode198.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode198.json
new file mode 100644
index 0000000000000000000000000000000000000000..de09ac5c3fa0c9bc36779bc3ef4fe5bde71649bf
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick up the blue bowl and set the small bowl with brown edge on it.",
+    "Take the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with brown outer rim on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the left arm.",
+    "Set down the ceramic bowl and drop the blue bowl with slightly rounded base on top.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl on top.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Pick up the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Stack the small bowl with brown edge carefully over the bowl with shiny texture.",
+    "Stack the small bowl with brown edge securely on top of the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with brown outer rim on.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the rounded bowl with light blue color directly above.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Take the bowl with shiny texture, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the medium-sized bowl for holding food, position it, and place the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Position the medium-sized bowl for holding food, lift the bowl with shiny texture, and place the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Grab the blue bowl, then stack the curved bowl light blue shade on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Take the glazed bowl with curved sides, place the medium-sized bowl for holding food above, and let go.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl, and place it over the blue bowl with slightly rounded base.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl on it.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.",
+    "With the right arm, lift the blue bowl and stack the blue bowl with slightly rounded base using the left arm.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl on top.",
+    "Put the glazed bowl with curved sides first, then bring the glazed bowl with curved sides to stack above.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Position the rounded bowl with light blue color and stack the rounded bowl with light blue color securely onto it.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Stack the blue bowl carefully over the bowl with shiny texture.",
+    "Stack the ceramic bowl securely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the small bowl with brown edge carefully on the dark inside bowl light blue outside.",
+    "Set the ceramic bowl over the medium-sized bowl for holding food to create the stack.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with brown outer rim, then complete the stack.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.",
+    "Use the right arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with shiny texture on top.",
+    "Take the dark inside bowl light blue outside, align the curved bowl light blue shade, and stack them.",
+    "Grab the medium-sized bowl for holding food, position it, and place the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Position the rounded bowl with light blue color, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Pick the bowl with shiny texture, position on the table, and place the glazed bowl with curved sides over it.",
+    "Set the small bowl with brown edge down, then add the curved bowl light blue shade over it.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge and position it neatly over the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, then stack the blue bowl on it.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with brown outer rim.",
+    "Take the bowl with brown outer rim, place the curved bowl light blue shade above, and let go.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base, and place it over the ceramic bowl with earthy brown trim.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl over it."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode199.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode199.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab40541e0257eeab9028325e05483a8599231de0
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode199.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the rounded bowl with light blue color securely on top of the bowl with brown outer rim.",
+    "Pick up the ceramic bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Lift the small bowl with brown edge and position it neatly over the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade on top of the medium-sized bowl for holding food.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Stack the small bowl with brown edge carefully over the blue bowl.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with shiny texture on it.",
+    "Set the glazed bowl with curved sides over the rounded bowl with light blue color to create the stack.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick the curved bowl light blue shade, position the medium-sized bowl for holding food, and place it over the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with shiny texture on top.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the dark inside bowl light blue outside, lift the small bowl with brown edge, and place the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the right arm.",
+    "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Hold the glazed bowl with curved sides and stack the curved bowl light blue shade neatly atop.",
+    "Set the blue bowl down, then add the dark inside bowl light blue outside over it.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Take the bowl with shiny texture, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set down the curved bowl light blue shade and drop the glazed bowl with curved sides on top.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the bowl with shiny texture to stack above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the ceramic bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with brown outer rim on top.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the bowl with brown outer rim on the surface, then stack the curved bowl light blue shade above it.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Place the blue bowl down, then set the rounded bowl with light blue color on top of the blue bowl.",
+    "Align the blue bowl with slightly rounded base and the ceramic bowl, then stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Use the arm to place the blue bowl, then stack the small bowl with brown edge on top.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Pick up the bowl with shiny texture and set the glazed bowl with curved sides on it.",
+    "Set the medium-sized bowl for holding food over the medium-sized bowl for holding food to create the stack.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick the curved bowl light blue shade, position the rounded bowl with light blue color, and place it over the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the right arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge above it.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Lift the rounded bowl with light blue color, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl over it.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Take the curved bowl light blue shade, place the medium-sized bowl for holding food above, and let go.",
+    "Take the blue bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Pick the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl above.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with shiny texture over it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Position the ceramic bowl carefully on the glazed bowl with curved sides.",
+    "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.",
+    "Position the bowl with shiny texture and stack the rounded bowl with light blue color securely onto it.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Stack the blue bowl securely on top of the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode2.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode2.json
new file mode 100644
index 0000000000000000000000000000000000000000..76dd01a697aa471dc24eadd056c509b3bbe7402a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode2.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the glazed bowl with curved sides, lift the ceramic bowl, and place the ceramic bowl on the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl and set the medium-sized bowl for holding food on it.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Position the curved bowl light blue shade and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl, and set the blue bowl on the rounded bowl with light blue color.",
+    "Use the right arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl neatly atop.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with shiny texture on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the small bowl with brown edge above it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the bowl with brown outer rim using the left arm.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Arrange the ceramic bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl, and stack the blue bowl on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, place the dark inside bowl light blue outside above, and let go.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Use the arm to place the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with brown outer rim.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the ceramic bowl steady and slide the rounded bowl with light blue color on.",
+    "Set down the ceramic bowl with earthy brown trim and drop the dark inside bowl light blue outside on top.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with brown outer rim, then complete the stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the blue bowl on top.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.",
+    "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture above it.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.",
+    "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Lift the dark inside bowl light blue outside, position the glazed bowl with curved sides above it, and stack.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides on top of the curved bowl light blue shade.",
+    "Take the medium-sized bowl for holding food, position it, then stack the small bowl with brown edge directly above.",
+    "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl, and place the ceramic bowl on the curved bowl light blue shade.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Position the glazed bowl with curved sides and stack the small bowl with brown edge securely onto it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the small bowl with brown edge on top.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the ceramic bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Hold the medium-sized bowl for holding food and stack the glazed bowl with curved sides neatly atop.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.",
+    "Take the bowl with brown outer rim, align the rounded bowl with light blue color, and stack them.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "With the right arm, lift the small bowl with brown edge and stack the bowl with brown outer rim using the left arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl with earthy brown trim.",
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Arrange the ceramic bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Pick up the ceramic bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the rounded bowl with light blue color over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the blue bowl and position it neatly over the curved bowl light blue shade.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with shiny texture on.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the blue bowl using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl over it.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode20.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode20.json
new file mode 100644
index 0000000000000000000000000000000000000000..60121c1cd7541c94890565c3b9d47fb9378f0b73
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode20.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the glazed bowl with curved sides on.",
+    "Grab the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Align the medium-sized bowl for holding food and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "Take the ceramic bowl, align the curved bowl light blue shade, and stack them.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, then carefully place the dark inside bowl light blue outside on top.",
+    "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the blue bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl on it.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl with earthy brown trim on it.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Set the curved bowl light blue shade over the ceramic bowl with earthy brown trim to create the stack.",
+    "Lift the curved bowl light blue shade, position the bowl with brown outer rim above it, and stack.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the left arm.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with brown outer rim on top.",
+    "Take the ceramic bowl, place the curved bowl light blue shade above, and let go.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Position the curved bowl light blue shade with the arm, then set the rounded bowl with light blue color above it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl, and stack them.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick up the blue bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the curved bowl light blue shade directly above.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Grab the bowl with shiny texture, position it, and place the glazed bowl with curved sides on top.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Place the blue bowl down, then set the bowl with brown outer rim on top of the blue bowl.",
+    "Take the bowl with shiny texture, align the bowl with brown outer rim, and stack them.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside, then carefully place the curved bowl light blue shade on top.",
+    "Put the bowl with shiny texture first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the curved bowl light blue shade.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the bowl with brown outer rim, then stack it on the glazed bowl with curved sides.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Position the ceramic bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Pick up the ceramic bowl using the right arm, then stack the ceramic bowl using the left arm.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "Position the bowl with shiny texture and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the bowl with brown outer rim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Set the bowl with shiny texture over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl above it, and stack.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base above it.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the medium-sized bowl for holding food using the left arm.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Position the blue bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the dark inside bowl light blue outside.",
+    "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Pick up the blue bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode200.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode200.json
new file mode 100644
index 0000000000000000000000000000000000000000..8501f2fb79ad697175c3b260479c6fd0ebeb87ad
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode200.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the bowl with shiny texture, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl with slightly rounded base over it.",
+    "Set the bowl with shiny texture over the curved bowl light blue shade to create the stack.",
+    "Arrange the blue bowl, lift the blue bowl with the arm, and stack them.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Hold the curved bowl light blue shade and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with brown outer rim on.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Align the glazed bowl with curved sides and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "the blue bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Position the bowl with brown outer rim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside and stack the bowl with brown outer rim securely onto it.",
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl, and stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with shiny texture on top.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the ceramic bowl, then carefully place the blue bowl on top.",
+    "Stack the curved bowl light blue shade securely on top of the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, set it down, then place the small bowl with brown edge over it.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the bowl with shiny texture, position the ceramic bowl above it, and stack.",
+    "Set down the rounded bowl with light blue color and drop the bowl with shiny texture on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with brown outer rim.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl over it.",
+    "Set the rounded bowl with light blue color over the medium-sized bowl for holding food to create the stack.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the bowl with brown outer rim above, and let go.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with shiny texture on.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Align the bowl with shiny texture and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.",
+    "the ceramic bowl goes at the bottom, the blue bowl rests above.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with shiny texture above it.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl.",
+    "Pick the medium-sized bowl for holding food, position the bowl with shiny texture, and place it over the medium-sized bowl for holding food.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Position the bowl with brown outer rim and stack the rounded bowl with light blue color securely onto it.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with shiny texture on top.",
+    "Stack the curved bowl light blue shade securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the dark inside bowl light blue outside above it.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode201.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode201.json
new file mode 100644
index 0000000000000000000000000000000000000000..f673cb7ece10850d05a8da8e151d74d938a12aae
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode201.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with shiny texture above it.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the ceramic bowl, position the bowl with brown outer rim, and place it over the ceramic bowl.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the rounded bowl with light blue color.",
+    "Put the dark inside bowl light blue outside first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl above it.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the curved bowl light blue shade over it.",
+    "Hold the ceramic bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the small bowl with brown edge and position it neatly over the glazed bowl with curved sides.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl, align the bowl with brown outer rim, and stack them.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.",
+    "Position the medium-sized bowl for holding food and stack the curved bowl light blue shade securely onto it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl over it.",
+    "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.",
+    "the curved bowl light blue shade goes at the bottom, the curved bowl light blue shade rests above.",
+    "Place the rounded bowl with light blue color down, then set the small bowl with brown edge on top of the rounded bowl with light blue color.",
+    "Grab the curved bowl light blue shade, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Set the medium-sized bowl for holding food over the rounded bowl with light blue color to create the stack.",
+    "Arrange the bowl with brown outer rim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Put the blue bowl with slightly rounded base first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the blue bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the small bowl with brown edge carefully on the small bowl with brown edge.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Align the rounded bowl with light blue color and the curved bowl light blue shade, then stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Lift the blue bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Pick up the small bowl with brown edge, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Use the arm to place the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Pick the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl using the right arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Place the glazed bowl with curved sides down and stack the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode202.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode202.json
new file mode 100644
index 0000000000000000000000000000000000000000..b881d33e8b8dd3e5239f591750dc2cfe12c7ddeb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode202.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Set the rounded bowl with light blue color down, then add the bowl with brown outer rim over it.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl using the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl on top.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside on top of the small bowl with brown edge.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the ceramic bowl, position the bowl with brown outer rim above it, and stack.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Stack the bowl with shiny texture carefully over the medium-sized bowl for holding food.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl above.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Align the curved bowl light blue shade and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, then stack it on the medium-sized bowl for holding food.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Pick up the small bowl with brown edge and set the rounded bowl with light blue color on it.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the dark inside bowl light blue outside on top.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Position the bowl with brown outer rim and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick up the blue bowl, grab the blue bowl, and stack the blue bowl on the blue bowl.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Take the curved bowl light blue shade, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl on top.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with shiny texture on.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Arrange the glazed bowl with curved sides, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the left arm.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Take the ceramic bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl above.",
+    "the ceramic bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Align the blue bowl with slightly rounded base and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl on it.",
+    "Pick the curved bowl light blue shade, then stack the bowl with shiny texture on it.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Grab the ceramic bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim securely onto it.",
+    "Pick up the bowl with shiny texture, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with shiny texture.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Set the bowl with shiny texture over the bowl with brown outer rim to create the stack.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the dark inside bowl light blue outside on top.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.",
+    "Set down the small bowl with brown edge and drop the glazed bowl with curved sides on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the curved bowl light blue shade on.",
+    "Position the rounded bowl with light blue color, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture with the arm, then set the medium-sized bowl for holding food above it.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the curved bowl light blue shade over it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode203.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode203.json
new file mode 100644
index 0000000000000000000000000000000000000000..7105819444ba73417d11905527eb3b79e52f6ccc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode203.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Grab the curved bowl light blue shade, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Hold the blue bowl and stack the blue bowl neatly atop.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Align the ceramic bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Hold the blue bowl steady and slide the rounded bowl with light blue color on.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the curved bowl light blue shade.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the blue bowl, align the glazed bowl with curved sides, and stack them.",
+    "Put the rounded bowl with light blue color first, then bring the dark inside bowl light blue outside to stack above.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "With the right arm, lift the bowl with shiny texture and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Position the ceramic bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Align the ceramic bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "the blue bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, position the small bowl with brown edge above it, and stack.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl on top of the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl on it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl on top.",
+    "Take the curved bowl light blue shade, place the blue bowl above, and let go.",
+    "Grab the blue bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Hold the ceramic bowl and stack the ceramic bowl neatly atop.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.",
+    "Position the curved bowl light blue shade, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the right arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl on.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Take the rounded bowl with light blue color, align the bowl with shiny texture, and stack them.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl to stack above.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with shiny texture above it.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Align the rounded bowl with light blue color over the ceramic bowl, then complete the stack.",
+    "the bowl with shiny texture goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with brown outer rim and position it neatly over the curved bowl light blue shade.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Set the curved bowl light blue shade over the blue bowl to create the stack.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with brown outer rim on top.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the rounded bowl with light blue color above it.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode204.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode204.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d81f00c7fc400c4c1d8234ecb5aafd154dcfb49
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode204.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "the blue bowl with slightly rounded base goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl on top.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Pick up the bowl with shiny texture, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge and position it neatly over the small bowl with brown edge.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "Arrange the curved bowl light blue shade, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the small bowl with brown edge, then stack it on the small bowl with brown edge.",
+    "Take the bowl with brown outer rim, align the ceramic bowl, and stack them.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with shiny texture.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the curved bowl light blue shade on top.",
+    "Align the bowl with shiny texture over the blue bowl with slightly rounded base, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Stack the blue bowl securely on top of the bowl with shiny texture.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Set the blue bowl over the dark inside bowl light blue outside to create the stack.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Hold the curved bowl light blue shade steady and slide the ceramic bowl on.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim on top of the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Pick the curved bowl light blue shade, position the rounded bowl with light blue color, and place it over the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl on it.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl on top.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with earthy brown trim carefully on the dark inside bowl light blue outside.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the ceramic bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.",
+    "Grab the blue bowl, position it, and place the bowl with brown outer rim on top.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.",
+    "Stack the bowl with brown outer rim securely on top of the small bowl with brown edge.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with shiny texture, and set the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl.",
+    "With the right arm, lift the small bowl with brown edge and stack the bowl with brown outer rim using the right arm.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Hold the curved bowl light blue shade steady and slide the ceramic bowl with earthy brown trim on.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Hold the ceramic bowl and stack the ceramic bowl neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the ceramic bowl, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode205.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode205.json
new file mode 100644
index 0000000000000000000000000000000000000000..a927f7c2531c736cfda2b4c13db9d6e437f7bb0a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode205.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Grab the rounded bowl with light blue color, set it down, then place the rounded bowl with light blue color over it.",
+    "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl with slightly rounded base.",
+    "Align the rounded bowl with light blue color and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick up the blue bowl using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Grab the blue bowl, then carefully place the bowl with shiny texture on top.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Place the bowl with brown outer rim down and stack the blue bowl on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the small bowl with brown edge.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Lift the small bowl with brown edge, grab the bowl with shiny texture, and set the bowl with shiny texture on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Pick the medium-sized bowl for holding food, position the glazed bowl with curved sides, and place it over the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, position the dark inside bowl light blue outside above it, and stack.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base above it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "the ceramic bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Take the blue bowl, place the small bowl with brown edge above, and let go.",
+    "Pick the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Take the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the small bowl with brown edge to stack above.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Grab the bowl with shiny texture, then stack the bowl with brown outer rim on top.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Position the bowl with shiny texture and stack the blue bowl securely onto it.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the rounded bowl with light blue color down, then add the dark inside bowl light blue outside over it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl above it.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Stack the medium-sized bowl for holding food carefully over the small bowl with brown edge.",
+    "Align the ceramic bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl.",
+    "Grab the blue bowl, position it, and place the small bowl with brown edge on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl, and stack them.",
+    "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the rounded bowl with light blue color over it.",
+    "Stack the ceramic bowl securely on top of the small bowl with brown edge.",
+    "Pick the ceramic bowl, position the rounded bowl with light blue color, and place it over the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade above it.",
+    "Use the arm to place the blue bowl, then stack the curved bowl light blue shade on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "the bowl with brown outer rim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the small bowl with brown edge, place the glazed bowl with curved sides above, and let go.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.",
+    "Position the blue bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the medium-sized bowl for holding food and stack the glazed bowl with curved sides securely onto it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the rounded bowl with light blue color on top.",
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Position the ceramic bowl carefully on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode206.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode206.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d4d5a107a940d8f99d33f8d1cb2f12c53eda90
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode206.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Position the bowl with brown outer rim carefully on the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Set the blue bowl with slightly rounded base down, then add the curved bowl light blue shade over it.",
+    "Set the rounded bowl with light blue color over the medium-sized bowl for holding food to create the stack.",
+    "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Place the blue bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Position the blue bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.",
+    "Take the bowl with brown outer rim, align the rounded bowl with light blue color, and stack them.",
+    "Pick up the blue bowl and set the curved bowl light blue shade on it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the bowl with brown outer rim, position the bowl with shiny texture above it, and stack.",
+    "Position the small bowl with brown edge, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Set down the glazed bowl with curved sides and drop the bowl with brown outer rim on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Pick the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on it.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the blue bowl steady and slide the rounded bowl with light blue color on.",
+    "Take the curved bowl light blue shade, place the medium-sized bowl for holding food above, and let go.",
+    "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, then stack it on the dark inside bowl light blue outside.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with shiny texture.",
+    "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Hold the curved bowl light blue shade and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the bowl with brown outer rim down, then set the blue bowl above it.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Stack the small bowl with brown edge carefully over the bowl with shiny texture.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl rests above.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the right arm.",
+    "Arrange the bowl with brown outer rim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the rounded bowl with light blue color.",
+    "Align the bowl with shiny texture and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Position the blue bowl carefully on the curved bowl light blue shade.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Set the blue bowl over the medium-sized bowl for holding food to create the stack.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Position the small bowl with brown edge and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the blue bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with shiny texture on top.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the ceramic bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the rounded bowl with light blue color over the blue bowl with slightly rounded base, then complete the stack.",
+    "Take the small bowl with brown edge, align the ceramic bowl, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the curved bowl light blue shade on it.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Lift the bowl with shiny texture, position the blue bowl above it, and stack.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Set down the rounded bowl with light blue color and drop the bowl with shiny texture on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Hold the rounded bowl with light blue color steady and slide the dark inside bowl light blue outside on.",
+    "Take the glazed bowl with curved sides, place the dark inside bowl light blue outside above, and let go.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl.",
+    "Stack the dark inside bowl light blue outside securely on top of the curved bowl light blue shade.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides above it.",
+    "Put the bowl with brown outer rim first, then bring the glazed bowl with curved sides to stack above.",
+    "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the bowl with brown outer rim using the right arm.",
+    "Arrange the curved bowl light blue shade, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade carefully on the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode207.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode207.json
new file mode 100644
index 0000000000000000000000000000000000000000..59df0a0574ed6c89ea8286c03a8e2c4c3df357d1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode207.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Take the bowl with brown outer rim, align the bowl with shiny texture, and stack them.",
+    "Pick up the blue bowl, place it down, then position the blue bowl on top.",
+    "Pick up the bowl with brown outer rim and set the curved bowl light blue shade on it.",
+    "Arrange the rounded bowl with light blue color, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the medium-sized bowl for holding food, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on it.",
+    "Stack the glazed bowl with curved sides securely on top of the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the blue bowl above it.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Put the small bowl with brown edge first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the ceramic bowl, position the bowl with shiny texture above it, and stack.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with brown outer rim on top.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Pick the ceramic bowl, position the curved bowl light blue shade, and place it over the ceramic bowl.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the curved bowl light blue shade, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Take the ceramic bowl, place the blue bowl above, and let go.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Stack the bowl with shiny texture carefully over the glazed bowl with curved sides.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color using the right arm.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the blue bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Set down the curved bowl light blue shade and drop the blue bowl with slightly rounded base on top.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Take the curved bowl light blue shade, align the dark inside bowl light blue outside, and stack them.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Arrange the bowl with brown outer rim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Pick the curved bowl light blue shade, then stack the bowl with brown outer rim on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Put the bowl with shiny texture first, then bring the bowl with shiny texture to stack above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.",
+    "Lift the glazed bowl with curved sides, position the blue bowl above it, and stack.",
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "the blue bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the rounded bowl with light blue color over it.",
+    "Align the bowl with brown outer rim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Position the dark inside bowl light blue outside carefully on the rounded bowl with light blue color.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl.",
+    "Hold the medium-sized bowl for holding food and stack the small bowl with brown edge neatly atop.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Take the blue bowl, place it, and stack the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the medium-sized bowl for holding food.",
+    "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Take the curved bowl light blue shade, place the rounded bowl with light blue color above, and let go.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Stack the blue bowl carefully over the small bowl with brown edge.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the curved bowl light blue shade using the right arm.",
+    "Position the blue bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode208.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode208.json
new file mode 100644
index 0000000000000000000000000000000000000000..23a4630dce78b43b2af8db3dd94f0e3bea8073d4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode208.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the bowl with brown outer rim, position it, and place the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the small bowl with brown edge on it.",
+    "Position the medium-sized bowl for holding food, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the small bowl with brown edge, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on it.",
+    "Place the blue bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with shiny texture.",
+    "Hold the small bowl with brown edge steady and slide the rounded bowl with light blue color on.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl, and stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "Align the blue bowl with slightly rounded base and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with brown outer rim above it, and stack.",
+    "Put the bowl with brown outer rim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with brown outer rim above.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Align the curved bowl light blue shade over the dark inside bowl light blue outside, then complete the stack.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with shiny texture.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Grab the ceramic bowl, then carefully place the rounded bowl with light blue color on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the glazed bowl with curved sides on top.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Stack the bowl with brown outer rim carefully over the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.",
+    "Set the rounded bowl with light blue color over the blue bowl with slightly rounded base to create the stack.",
+    "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "With the right arm, lift the bowl with shiny texture and stack the curved bowl light blue shade using the right arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Hold the dark inside bowl light blue outside and stack the ceramic bowl neatly atop.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Set down the ceramic bowl and drop the blue bowl on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick up the blue bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Align the glazed bowl with curved sides and the ceramic bowl, then stack the ceramic bowl on the glazed bowl with curved sides.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with shiny texture.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl over it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the rounded bowl with light blue color directly above.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, position the curved bowl light blue shade above it, and stack.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the curved bowl light blue shade and position it neatly over the blue bowl.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "Grab the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with the right arm.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Stack the curved bowl light blue shade securely on top of the curved bowl light blue shade.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the glazed bowl with curved sides on top.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Stack the ceramic bowl carefully over the glazed bowl with curved sides.",
+    "Take the bowl with shiny texture, place the medium-sized bowl for holding food above, and let go.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Position the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides securely onto it.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim on top of the dark inside bowl light blue outside.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl using the right arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "Hold the curved bowl light blue shade and stack the bowl with shiny texture neatly atop."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode209.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode209.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f51dfc6fa2f0e832e299b884cc8e09d5c8801ee
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode209.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with brown outer rim, then complete the stack.",
+    "Position the ceramic bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the bowl with shiny texture, position the rounded bowl with light blue color, and place it over the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Align the dark inside bowl light blue outside and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl.",
+    "Position the curved bowl light blue shade carefully on the rounded bowl with light blue color.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "With the left arm, lift the small bowl with brown edge and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the ceramic bowl using the right arm.",
+    "Position the ceramic bowl with the arm, then set the small bowl with brown edge above it.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the glazed bowl with curved sides on the surface, then stack the rounded bowl with light blue color above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the glazed bowl with curved sides on.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick the ceramic bowl, then stack the bowl with brown outer rim on it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick up the blue bowl with slightly rounded base and set the rounded bowl with light blue color on it.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl on top.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Pick the small bowl with brown edge, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Take the bowl with shiny texture, place the medium-sized bowl for holding food above, and let go.",
+    "Align the blue bowl with slightly rounded base over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl securely onto it.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl.",
+    "Align the blue bowl with slightly rounded base and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl.",
+    "Position the bowl with shiny texture carefully on the curved bowl light blue shade.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set the bowl with shiny texture down, then add the medium-sized bowl for holding food over it.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge on top of the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Arrange the bowl with brown outer rim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the rounded bowl with light blue color, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the blue bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl on.",
+    "Use the left arm for the blue bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the glazed bowl with curved sides, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the glazed bowl with curved sides and set the ceramic bowl with earthy brown trim on it.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Take the bowl with shiny texture, align the blue bowl, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl on top.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with shiny texture on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the small bowl with brown edge to stack above.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Take the rounded bowl with light blue color, place the small bowl with brown edge above, and let go.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode21.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode21.json
new file mode 100644
index 0000000000000000000000000000000000000000..661368138c94811a86ccffe80e94370f59ce8d61
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode21.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bowl with brown outer rim carefully on the bowl with brown outer rim.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base on top of the curved bowl light blue shade.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, align the rounded bowl with light blue color, and stack them.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the small bowl with brown edge, and stack them.",
+    "Align the bowl with shiny texture over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the rounded bowl with light blue color, position it, and place the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Position the bowl with brown outer rim and stack the blue bowl securely onto it.",
+    "Take the small bowl with brown edge, place the blue bowl with slightly rounded base above, and let go.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl rests above.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge above it.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the blue bowl and stack the bowl with shiny texture using the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the small bowl with brown edge above it.",
+    "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, then carefully place the glazed bowl with curved sides on top.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Set the bowl with brown outer rim down, then add the curved bowl light blue shade over it.",
+    "Hold the rounded bowl with light blue color and stack the glazed bowl with curved sides neatly atop.",
+    "Set the ceramic bowl with earthy brown trim over the medium-sized bowl for holding food to create the stack.",
+    "Take the curved bowl light blue shade, position it, then stack the bowl with shiny texture directly above.",
+    "Position the small bowl with brown edge carefully on the medium-sized bowl for holding food.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim on top of the bowl with brown outer rim.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Place the ceramic bowl with earthy brown trim down and stack the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade, position the blue bowl above it, and stack.",
+    "Position the medium-sized bowl for holding food and stack the dark inside bowl light blue outside securely onto it.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Lift the ceramic bowl, then stack it on the blue bowl.",
+    "Pick up the small bowl with brown edge, grab the blue bowl, and stack the blue bowl on the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl over it.",
+    "Align the bowl with brown outer rim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the glazed bowl with curved sides using the left arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the rounded bowl with light blue color above it.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl with slightly rounded base on.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with brown outer rim above it.",
+    "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Take the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, then stack the small bowl with brown edge on it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set down the ceramic bowl and drop the ceramic bowl on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl, then carefully place the blue bowl on top.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl, and place it over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Set the medium-sized bowl for holding food down, then add the dark inside bowl light blue outside over it.",
+    "Hold the blue bowl with slightly rounded base and stack the small bowl with brown edge neatly atop.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.",
+    "Take the bowl with brown outer rim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl using the right arm, then stack the rounded bowl with light blue color using the left arm."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode210.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode210.json
new file mode 100644
index 0000000000000000000000000000000000000000..42b38cca2a4eb1917dace932fed4242403533b54
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode210.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Arrange the ceramic bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the medium-sized bowl for holding food, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl rests above.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Put the ceramic bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with brown outer rim on top.",
+    "Align the ceramic bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "Use the left arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top.",
+    "Pick the bowl with brown outer rim, position the rounded bowl with light blue color, and place it over the bowl with brown outer rim.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "With the left arm, lift the bowl with brown outer rim and stack the ceramic bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set the blue bowl with slightly rounded base down, then add the rounded bowl with light blue color over it.",
+    "Position the rounded bowl with light blue color with the arm, then set the medium-sized bowl for holding food above it.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Hold the bowl with shiny texture steady and slide the medium-sized bowl for holding food on.",
+    "Set down the dark inside bowl light blue outside and drop the medium-sized bowl for holding food on top.",
+    "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl above.",
+    "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the curved bowl light blue shade over it.",
+    "Take the blue bowl, place the ceramic bowl above, and let go.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture on top of the rounded bowl with light blue color.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the curved bowl light blue shade to stack above.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Align the rounded bowl with light blue color and the curved bowl light blue shade, then stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl, position the small bowl with brown edge, and place it over the blue bowl.",
+    "Position the small bowl with brown edge carefully on the small bowl with brown edge.",
+    "With the left arm, lift the blue bowl and stack the blue bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Hold the bowl with brown outer rim and stack the medium-sized bowl for holding food neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.",
+    "Set the blue bowl over the curved bowl light blue shade to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the glazed bowl with curved sides on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Hold the blue bowl steady and slide the dark inside bowl light blue outside on.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Take the curved bowl light blue shade, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode211.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode211.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec78eb3974f6f27bcce98457662ab7dcb7a776d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode211.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the bowl with shiny texture using the left arm.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl over it.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl over it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the blue bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Lift the blue bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the blue bowl with slightly rounded base down and stack the rounded bowl with light blue color on top.",
+    "Pick up the ceramic bowl, grab the blue bowl, and stack the blue bowl on the ceramic bowl.",
+    "Align the rounded bowl with light blue color over the ceramic bowl, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "the bowl with shiny texture goes at the bottom, the small bowl with brown edge rests above.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge on top of the medium-sized bowl for holding food.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Position the curved bowl light blue shade with the arm, then set the glazed bowl with curved sides above it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge with the left arm.",
+    "Hold the blue bowl steady and slide the blue bowl on.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Set the curved bowl light blue shade over the curved bowl light blue shade to create the stack.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl on it.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the left arm.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, grab the blue bowl, and set the blue bowl on the bowl with shiny texture.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the small bowl with brown edge and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Set the small bowl with brown edge down, then add the medium-sized bowl for holding food over it.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the small bowl with brown edge above.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides above it.",
+    "Set down the glazed bowl with curved sides and drop the small bowl with brown edge on top.",
+    "Pick the curved bowl light blue shade, position the blue bowl with slightly rounded base, and place it over the curved bowl light blue shade.",
+    "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the glazed bowl with curved sides, set it down, then place the curved bowl light blue shade over it.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food on top of the bowl with shiny texture.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with the left arm.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with shiny texture on.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the bowl with shiny texture, place the curved bowl light blue shade above, and let go.",
+    "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.",
+    "Pick the bowl with brown outer rim, then stack the small bowl with brown edge on it.",
+    "Lift the curved bowl light blue shade, position the curved bowl light blue shade above it, and stack.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl.",
+    "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the left arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode212.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode212.json
new file mode 100644
index 0000000000000000000000000000000000000000..1efab88c353a0f8e359a8fea62df6ee556764cf1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode212.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the blue bowl and stack the bowl with brown outer rim securely onto it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Place the blue bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.",
+    "Position the bowl with brown outer rim carefully on the rounded bowl with light blue color.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Use the right arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Set the bowl with brown outer rim over the ceramic bowl to create the stack.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Position the small bowl with brown edge with the arm, then set the small bowl with brown edge above it.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides above it.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with shiny texture on.",
+    "With the right arm, lift the small bowl with brown edge and stack the bowl with brown outer rim using the left arm.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Take the ceramic bowl, place the curved bowl light blue shade above, and let go.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl, position it, and place the blue bowl on top.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl on it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Pick the bowl with shiny texture, then stack the curved bowl light blue shade on it.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the small bowl with brown edge over it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with shiny texture above.",
+    "Align the blue bowl with slightly rounded base over the small bowl with brown edge, then complete the stack.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Take the small bowl with brown edge, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside and stack the small bowl with brown edge securely onto it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Set down the glazed bowl with curved sides and drop the rounded bowl with light blue color on top.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with brown outer rim rests above.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the ceramic bowl, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the curved bowl light blue shade carefully on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl, align the blue bowl, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Position the bowl with shiny texture, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the bowl with shiny texture with the left arm.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl above it.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl above it.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with brown outer rim on.",
+    "With the right arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with brown outer rim, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim, then carefully place the dark inside bowl light blue outside on top.",
+    "Take the glazed bowl with curved sides, place the small bowl with brown edge above, and let go.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl, then stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge on top of the blue bowl with slightly rounded base.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with brown outer rim on it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the blue bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick the rounded bowl with light blue color, position the small bowl with brown edge, and place it over the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Place the dark inside bowl light blue outside down and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.",
+    "Set the ceramic bowl down, then add the ceramic bowl over it.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode213.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode213.json
new file mode 100644
index 0000000000000000000000000000000000000000..11d35e0c59e5b2bdee2d5e8338eaaa752fcde396
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode213.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the blue bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the blue bowl, then carefully place the small bowl with brown edge on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Lift the dark inside bowl light blue outside, grab the small bowl with brown edge, and set the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food and set the dark inside bowl light blue outside on it.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Pick up the bowl with brown outer rim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl with slightly rounded base.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base above it.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the glazed bowl with curved sides using the right arm.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Align the dark inside bowl light blue outside and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Take the small bowl with brown edge, place the ceramic bowl above, and let go.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Position the blue bowl carefully on the bowl with brown outer rim.",
+    "Set the bowl with shiny texture over the blue bowl to create the stack.",
+    "Place the medium-sized bowl for holding food down, then set the medium-sized bowl for holding food on top of the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the bowl with shiny texture, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl on.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Place the small bowl with brown edge on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the ceramic bowl, then carefully place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Take the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.",
+    "Lift the glazed bowl with curved sides, grab the bowl with shiny texture, and set the bowl with shiny texture on the glazed bowl with curved sides.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with brown outer rim rests above.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Arrange the medium-sized bowl for holding food, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the dark inside bowl light blue outside and set the medium-sized bowl for holding food on it.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl with earthy brown trim over it.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Pick up the curved bowl light blue shade, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the blue bowl, then stack it on the dark inside bowl light blue outside.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the right arm.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food, and place it over the ceramic bowl with earthy brown trim.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with brown outer rim over it.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Take the medium-sized bowl for holding food, place the medium-sized bowl for holding food above, and let go.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Set the blue bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl, and place the ceramic bowl on the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl on.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Pick the blue bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode214.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode214.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61601bca1e29bd07f1262b3d4fdf5a4fcd82cdb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode214.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the blue bowl with slightly rounded base over the small bowl with brown edge, then complete the stack.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Position the small bowl with brown edge and stack the medium-sized bowl for holding food securely onto it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside carefully on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, grab the bowl with shiny texture, and set the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Position the bowl with brown outer rim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the bowl with shiny texture over the ceramic bowl to create the stack.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Stack the small bowl with brown edge securely on top of the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Pick the ceramic bowl, then stack the blue bowl on it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Take the small bowl with brown edge, align the rounded bowl with light blue color, and stack them.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the left arm.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Set the glazed bowl with curved sides down, then add the curved bowl light blue shade over it.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the left arm.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.",
+    "Stack the blue bowl carefully over the bowl with shiny texture.",
+    "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Position the small bowl with brown edge and stack the rounded bowl with light blue color securely onto it.",
+    "Align the blue bowl with slightly rounded base and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Position the small bowl with brown edge carefully on the medium-sized bowl for holding food.",
+    "Lift the blue bowl using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the ceramic bowl using the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl on.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the rounded bowl with light blue color over it.",
+    "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl, then stack it on the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on it.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Grab the rounded bowl with light blue color, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the bowl with shiny texture, align the blue bowl with slightly rounded base, and stack them.",
+    "Take the ceramic bowl, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "Set down the bowl with brown outer rim and drop the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl above.",
+    "Take the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Align the dark inside bowl light blue outside over the dark inside bowl light blue outside, then complete the stack.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode215.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode215.json
new file mode 100644
index 0000000000000000000000000000000000000000..c24b70fe2e70b8b13b2cc7abf6b11432eb6ebe3b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode215.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set down the curved bowl light blue shade and drop the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl over it.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Take the glazed bowl with curved sides, place the blue bowl above, and let go.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the medium-sized bowl for holding food above it.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Grab the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on it.",
+    "the ceramic bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl on top.",
+    "Grab the ceramic bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with brown outer rim to create the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with shiny texture over it.",
+    "Lift the bowl with brown outer rim, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the curved bowl light blue shade and position it neatly over the curved bowl light blue shade.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Align the medium-sized bowl for holding food and the ceramic bowl, then stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with shiny texture on top.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, then stack it on the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside on top of the ceramic bowl with earthy brown trim.",
+    "Put the ceramic bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grab the curved bowl light blue shade, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Set down the ceramic bowl with earthy brown trim and drop the curved bowl light blue shade on top.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl over it.",
+    "Align the blue bowl over the ceramic bowl, then complete the stack.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Take the medium-sized bowl for holding food, align the blue bowl, and stack them.",
+    "Pick the curved bowl light blue shade, then stack the rounded bowl with light blue color on it.",
+    "the ceramic bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with shiny texture on.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the right arm.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Set the ceramic bowl over the dark inside bowl light blue outside to create the stack.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set the bowl with brown outer rim down, then add the bowl with shiny texture over it.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl with slightly rounded base.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the ceramic bowl with the right arm.",
+    "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.",
+    "Position the curved bowl light blue shade carefully on the bowl with brown outer rim.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl, and place it over the bowl with brown outer rim.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl neatly atop.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the glazed bowl with curved sides and set the bowl with shiny texture on it.",
+    "Position the dark inside bowl light blue outside and stack the bowl with brown outer rim securely onto it.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Take the ceramic bowl, place it, and stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Set down the small bowl with brown edge and drop the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode216.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode216.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6439a8f388a20ce83279b73d14702cf2536481b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode216.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Hold the small bowl with brown edge steady and slide the rounded bowl with light blue color on.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Take the curved bowl light blue shade, align the ceramic bowl, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Take the ceramic bowl, place the bowl with shiny texture above, and let go.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the medium-sized bowl for holding food.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the bowl with brown outer rim, position the rounded bowl with light blue color, and place it over the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl directly above.",
+    "Lift the blue bowl, then stack it on the blue bowl.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl on it.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl above it.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Lift the blue bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl.",
+    "Align the bowl with shiny texture and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "With the left arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the right arm.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the blue bowl with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the bowl with shiny texture, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture and position it neatly over the ceramic bowl.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl over it.",
+    "Put the small bowl with brown edge first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade on top of the rounded bowl with light blue color.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the medium-sized bowl for holding food carefully on the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base securely onto it.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl on.",
+    "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the curved bowl light blue shade on top.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl carefully over the blue bowl.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Position the small bowl with brown edge, lift the ceramic bowl, and place the ceramic bowl on the small bowl with brown edge.",
+    "Pick up the bowl with shiny texture, place it down, then position the dark inside bowl light blue outside on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the bowl with brown outer rim, then stack it on the curved bowl light blue shade.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Position the bowl with brown outer rim with the arm, then set the small bowl with brown edge above it.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl to create the stack.",
+    "Place the blue bowl down and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "With the left arm, lift the ceramic bowl and stack the bowl with brown outer rim using the right arm.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the ceramic bowl using the right arm.",
+    "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Set the ceramic bowl down, then add the bowl with shiny texture over it.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Grab the bowl with shiny texture, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl on top of the ceramic bowl with earthy brown trim.",
+    "the small bowl with brown edge goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Grab the small bowl with brown edge, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the ceramic bowl carefully on the ceramic bowl.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Hold the ceramic bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode217.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode217.json
new file mode 100644
index 0000000000000000000000000000000000000000..c56902db5f3fa6f2a61cad8e3e340c2a635de8e7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode217.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the rounded bowl with light blue color and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with shiny texture on top.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the ceramic bowl, then stack it on the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Use the right arm for the blue bowl, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the blue bowl and set the curved bowl light blue shade on it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl with earthy brown trim on.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the bowl with shiny texture using the right arm.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the blue bowl on top.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with shiny texture over it.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Set the blue bowl down, then add the dark inside bowl light blue outside over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the curved bowl light blue shade, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.",
+    "Align the glazed bowl with curved sides and the bowl with shiny texture, then stack the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Arrange the small bowl with brown edge, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Position the medium-sized bowl for holding food, lift the bowl with shiny texture, and place the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.",
+    "Set the blue bowl over the curved bowl light blue shade to create the stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the small bowl with brown edge on it.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with shiny texture on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Take the dark inside bowl light blue outside, place the rounded bowl with light blue color above, and let go.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "With the right arm, lift the blue bowl and stack the blue bowl with slightly rounded base using the right arm.",
+    "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Position the blue bowl with slightly rounded base carefully on the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Take the ceramic bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Align the curved bowl light blue shade and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode218.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode218.json
new file mode 100644
index 0000000000000000000000000000000000000000..6412fd28a7cdb4bf1825426369ae9fc22a9cdf6b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode218.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the rounded bowl with light blue color above it.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Grab the bowl with shiny texture, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Set the glazed bowl with curved sides over the rounded bowl with light blue color to create the stack.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Put the bowl with brown outer rim first, then bring the bowl with brown outer rim to stack above.",
+    "Place the curved bowl light blue shade down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Pick up the glazed bowl with curved sides and set the dark inside bowl light blue outside on it.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Position the blue bowl with slightly rounded base carefully on the medium-sized bowl for holding food.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl, and set the ceramic bowl on the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Align the rounded bowl with light blue color over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the bowl with brown outer rim over it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl on top.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with the left arm.",
+    "With the right arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the blue bowl, align the bowl with shiny texture, and stack them.",
+    "Lift the glazed bowl with curved sides, then stack it on the small bowl with brown edge.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Lift the blue bowl and position it neatly over the rounded bowl with light blue color.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl on it.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge over the rounded bowl with light blue color to create the stack.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Position the dark inside bowl light blue outside carefully on the medium-sized bowl for holding food.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge on top of the bowl with brown outer rim.",
+    "Align the ceramic bowl over the curved bowl light blue shade, then complete the stack.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.",
+    "Set down the glazed bowl with curved sides and drop the dark inside bowl light blue outside on top.",
+    "Stack the blue bowl carefully over the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl above, and let go.",
+    "Grab the bowl with brown outer rim, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the bowl with brown outer rim, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl on top.",
+    "Lift the ceramic bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the dark inside bowl light blue outside on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl using the left arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food above it.",
+    "Align the small bowl with brown edge and the small bowl with brown edge, then stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Pick the curved bowl light blue shade, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides and stack the bowl with brown outer rim neatly atop.",
+    "Take the curved bowl light blue shade, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge and position it neatly over the curved bowl light blue shade.",
+    "Pick up the ceramic bowl using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with shiny texture, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with shiny texture.",
+    "Grab the blue bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode219.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode219.json
new file mode 100644
index 0000000000000000000000000000000000000000..6752b95aab357bca3bba87b31d98432ee64ce0bb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode219.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, lift the blue bowl and stack the small bowl with brown edge using the left arm.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Set the dark inside bowl light blue outside over the blue bowl to create the stack.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl, position it, and place the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the ceramic bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Align the dark inside bowl light blue outside and the bowl with brown outer rim, then stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Arrange the dark inside bowl light blue outside, lift the small bowl with brown edge with the arm, and stack them.",
+    "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food above it.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Align the glazed bowl with curved sides over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.",
+    "Use the right arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the bowl with brown outer rim, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with brown outer rim.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with shiny texture.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Hold the ceramic bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade on top of the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick the blue bowl, position the curved bowl light blue shade, and place it over the blue bowl.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim using the left arm.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl over it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the bowl with shiny texture down and stack the curved bowl light blue shade on top.",
+    "Set the rounded bowl with light blue color over the rounded bowl with light blue color to create the stack.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Align the bowl with brown outer rim and the blue bowl, then stack the blue bowl on the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl on it.",
+    "Set down the rounded bowl with light blue color and drop the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Position the bowl with brown outer rim and stack the bowl with brown outer rim securely onto it.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides above it.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Align the rounded bowl with light blue color over the ceramic bowl, then complete the stack.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Stack the blue bowl securely on top of the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Hold the blue bowl and stack the blue bowl neatly atop.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside carefully over the glazed bowl with curved sides.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Put the blue bowl with slightly rounded base first, then bring the dark inside bowl light blue outside to stack above.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food on top of the ceramic bowl.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Grab the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "Position the bowl with shiny texture with the arm, then set the medium-sized bowl for holding food above it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick the blue bowl with slightly rounded base, position the small bowl with brown edge, and place it over the blue bowl with slightly rounded base.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "With the right arm, lift the small bowl with brown edge and stack the curved bowl light blue shade using the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the dark inside bowl light blue outside, and stack them."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode22.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode22.json
new file mode 100644
index 0000000000000000000000000000000000000000..51cafcf575881efabac4df52cfd815d627d772e7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode22.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with brown outer rim on top.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge above it.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Position the ceramic bowl and stack the curved bowl light blue shade securely onto it.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Stack the medium-sized bowl for holding food securely on top of the medium-sized bowl for holding food.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade, then stack it on the medium-sized bowl for holding food.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, position it, and place the curved bowl light blue shade on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Stack the curved bowl light blue shade carefully over the small bowl with brown edge.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Grab the blue bowl, then carefully place the bowl with brown outer rim on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color on top of the glazed bowl with curved sides.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Take the blue bowl, align the rounded bowl with light blue color, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the bowl with shiny texture, position the glazed bowl with curved sides above it, and stack.",
+    "Align the rounded bowl with light blue color over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl on it.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl using the left arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Position the bowl with shiny texture, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Position the ceramic bowl and stack the curved bowl light blue shade securely onto it.",
+    "Grab the bowl with brown outer rim, set it down, then place the glazed bowl with curved sides over it.",
+    "Arrange the ceramic bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Align the blue bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.",
+    "Grab the blue bowl, then carefully place the bowl with shiny texture on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, position the curved bowl light blue shade, and place it over the glazed bowl with curved sides.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Take the small bowl with brown edge, position it, then stack the curved bowl light blue shade directly above.",
+    "Take the dark inside bowl light blue outside, place the blue bowl above, and let go.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color on top of the medium-sized bowl for holding food.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl, and stack the ceramic bowl on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Take the ceramic bowl, align the curved bowl light blue shade, and stack them.",
+    "Lift the ceramic bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode220.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode220.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcd4130b3409a7edf521de7f2d896c2197a275e5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode220.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl over it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Hold the blue bowl steady and slide the bowl with brown outer rim on.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture and position it neatly over the curved bowl light blue shade.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl.",
+    "Set the rounded bowl with light blue color down, then add the dark inside bowl light blue outside over it.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the right arm.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl.",
+    "Grab the rounded bowl with light blue color, position it, and place the glazed bowl with curved sides on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl rests above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Align the dark inside bowl light blue outside and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.",
+    "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.",
+    "With the right arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the right arm.",
+    "Arrange the blue bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the small bowl with brown edge above.",
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, then stack it on the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the dark inside bowl light blue outside, position the rounded bowl with light blue color, and place it over the dark inside bowl light blue outside.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the ceramic bowl, then stack the ceramic bowl on it.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the small bowl with brown edge and stack the dark inside bowl light blue outside neatly atop.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Align the ceramic bowl with earthy brown trim over the medium-sized bowl for holding food, then complete the stack.",
+    "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.",
+    "Grab the blue bowl, then carefully place the blue bowl on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Stack the rounded bowl with light blue color securely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the curved bowl light blue shade.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with brown outer rim.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the right arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl, and stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Grab the bowl with shiny texture, position it, and place the curved bowl light blue shade on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "the curved bowl light blue shade goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Take the blue bowl, align the bowl with brown outer rim, and stack them.",
+    "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl, and place the blue bowl on the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place the rounded bowl with light blue color above, and let go.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside on top of the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Grab the curved bowl light blue shade, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.",
+    "Pick up the dark inside bowl light blue outside and set the small bowl with brown edge on it.",
+    "Put the blue bowl with slightly rounded base first, then bring the small bowl with brown edge to stack above.",
+    "Set the glazed bowl with curved sides over the bowl with shiny texture to create the stack.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl over it.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack.",
+    "Position the bowl with shiny texture and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the small bowl with brown edge, then carefully place the blue bowl on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode221.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode221.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c0d2f601765ddc6ac6ce789d52d9f520ee75fa
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode221.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the small bowl with brown edge directly above.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Place the rounded bowl with light blue color down and stack the bowl with brown outer rim on top.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food on top of the curved bowl light blue shade.",
+    "Take the ceramic bowl, place the small bowl with brown edge above, and let go.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture above it.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with brown outer rim above.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Align the curved bowl light blue shade over the glazed bowl with curved sides, then complete the stack.",
+    "Grab the bowl with shiny texture, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Set the ceramic bowl down, then add the rounded bowl with light blue color over it.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Set the blue bowl over the bowl with brown outer rim to create the stack.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl with earthy brown trim on.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Grab the small bowl with brown edge, then carefully place the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Position the dark inside bowl light blue outside carefully on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the glazed bowl with curved sides.",
+    "Stack the medium-sized bowl for holding food carefully over the curved bowl light blue shade.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl on it.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Pick up the small bowl with brown edge, grab the blue bowl, and stack the blue bowl on the small bowl with brown edge.",
+    "With the right arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, then stack the blue bowl on it.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the small bowl with brown edge.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with brown outer rim on top.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.",
+    "Place the dark inside bowl light blue outside down and stack the glazed bowl with curved sides on top.",
+    "Place the rounded bowl with light blue color down, then set the small bowl with brown edge on top of the rounded bowl with light blue color.",
+    "Take the blue bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Place the glazed bowl with curved sides down, then set the bowl with brown outer rim above it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Align the blue bowl with slightly rounded base and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Hold the rounded bowl with light blue color and stack the curved bowl light blue shade neatly atop.",
+    "Set the blue bowl down, then add the bowl with brown outer rim over it.",
+    "Lift the ceramic bowl, then stack it on the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, then stack the blue bowl on top.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Set the glazed bowl with curved sides over the bowl with brown outer rim to create the stack.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Use the right arm for the ceramic bowl, place it, and stack the ceramic bowl with the left arm.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Take the blue bowl, place it, and stack the blue bowl on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the small bowl with brown edge on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Position the curved bowl light blue shade and stack the curved bowl light blue shade securely onto it.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl using the left arm.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl, and set the ceramic bowl on the curved bowl light blue shade.",
+    "Pick the bowl with brown outer rim, then stack the bowl with brown outer rim on it.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl above it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode222.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode222.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ada5ce576da98f87cb628974142428c6778804b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode222.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "the bowl with shiny texture goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl over it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the glazed bowl with curved sides using the right arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Set down the dark inside bowl light blue outside and drop the curved bowl light blue shade on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the small bowl with brown edge.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Use the left arm for the blue bowl, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Lift the blue bowl, position the curved bowl light blue shade above it, and stack.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl on it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the rounded bowl with light blue color on top.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Stack the bowl with brown outer rim carefully over the bowl with brown outer rim.",
+    "Position the bowl with shiny texture, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Set the medium-sized bowl for holding food down, then add the bowl with shiny texture over it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Take the bowl with brown outer rim, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the bowl with brown outer rim, then stack it on the small bowl with brown edge.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Align the dark inside bowl light blue outside over the bowl with shiny texture, then complete the stack.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Hold the ceramic bowl steady and slide the bowl with brown outer rim on.",
+    "Hold the dark inside bowl light blue outside and stack the small bowl with brown edge neatly atop.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the small bowl with brown edge above.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Place the glazed bowl with curved sides down, then set the bowl with brown outer rim on top of the glazed bowl with curved sides.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl with slightly rounded base on top.",
+    "the ceramic bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the blue bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the right arm.",
+    "Place the blue bowl on the surface, then stack the blue bowl above it.",
+    "Set down the blue bowl and drop the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Lift the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, align the rounded bowl with light blue color, and stack them.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Grab the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Position the dark inside bowl light blue outside and stack the rounded bowl with light blue color securely onto it.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Position the small bowl with brown edge, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Pick the glazed bowl with curved sides, position the curved bowl light blue shade, and place it over the glazed bowl with curved sides.",
+    "Grab the curved bowl light blue shade, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim above it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Position the blue bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Arrange the ceramic bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Hold the blue bowl steady and slide the glazed bowl with curved sides on.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the bowl with shiny texture, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl on top of the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode223.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode223.json
new file mode 100644
index 0000000000000000000000000000000000000000..02bf4651ecf123a7775a97075f3f9e57f3f33344
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode223.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the bowl with brown outer rim, position the glazed bowl with curved sides above it, and stack.",
+    "Stack the blue bowl carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base on top of the rounded bowl with light blue color.",
+    "Set the bowl with shiny texture down, then add the blue bowl over it.",
+    "Take the bowl with brown outer rim, place it, and stack the small bowl with brown edge on top.",
+    "Take the curved bowl light blue shade, align the curved bowl light blue shade, and stack them.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with the arm, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl neatly atop.",
+    "Take the curved bowl light blue shade, position it, then stack the small bowl with brown edge directly above.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down, then set the ceramic bowl above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the blue bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl.",
+    "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.",
+    "Place the small bowl with brown edge down and stack the medium-sized bowl for holding food on top.",
+    "Stack the blue bowl securely on top of the rounded bowl with light blue color.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the ceramic bowl, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, place the glazed bowl with curved sides above, and let go.",
+    "Align the rounded bowl with light blue color and the curved bowl light blue shade, then stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl over it.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with brown outer rim.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl on top.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the bowl with brown outer rim directly above.",
+    "Align the rounded bowl with light blue color over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick up the bowl with brown outer rim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick the medium-sized bowl for holding food, then stack the curved bowl light blue shade on it.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Use the right arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with shiny texture and set the bowl with brown outer rim on it.",
+    "Place the bowl with brown outer rim down and stack the blue bowl on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Position the bowl with brown outer rim with the arm, then set the dark inside bowl light blue outside above it.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position the rounded bowl with light blue color, and place it over the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Set down the bowl with brown outer rim and drop the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the medium-sized bowl for holding food to stack above.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode224.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode224.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d241ab06fef56b90938d5307255a3ce44e17665
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode224.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Position the curved bowl light blue shade with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl, and place the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Align the blue bowl with slightly rounded base and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl with slightly rounded base on it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.",
+    "Stack the small bowl with brown edge securely on top of the curved bowl light blue shade.",
+    "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick the glazed bowl with curved sides, then stack the rounded bowl with light blue color on it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Set the blue bowl with slightly rounded base over the blue bowl to create the stack.",
+    "Hold the small bowl with brown edge steady and slide the curved bowl light blue shade on.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Lift the bowl with brown outer rim and position it neatly over the dark inside bowl light blue outside.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Set down the glazed bowl with curved sides and drop the rounded bowl with light blue color on top.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Pick up the blue bowl, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl.",
+    "Put the dark inside bowl light blue outside first, then bring the ceramic bowl to stack above.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the curved bowl light blue shade on top of the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, then stack it on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the left arm.",
+    "Grab the blue bowl, set it down, then place the small bowl with brown edge over it.",
+    "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.",
+    "the rounded bowl with light blue color goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with shiny texture over it.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim above it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.",
+    "Position the blue bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides carefully on the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl with earthy brown trim on top.",
+    "Stack the small bowl with brown edge securely on top of the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the ceramic bowl using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Pick the ceramic bowl, then stack the bowl with brown outer rim on it.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set the small bowl with brown edge over the bowl with brown outer rim to create the stack.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl on.",
+    "Take the blue bowl, place the small bowl with brown edge above, and let go.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Align the curved bowl light blue shade over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the rounded bowl with light blue color, position the curved bowl light blue shade above it, and stack.",
+    "Hold the rounded bowl with light blue color and stack the rounded bowl with light blue color neatly atop.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Set down the ceramic bowl and drop the ceramic bowl on top.",
+    "Pick the rounded bowl with light blue color, position the bowl with shiny texture, and place it over the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base on top of the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "With the right arm, lift the ceramic bowl and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides, then carefully place the small bowl with brown edge on top.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl rests above.",
+    "Grab the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the curved bowl light blue shade over it.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food above it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode225.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode225.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89af8e667325726128e1bbd472ca154699b809d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode225.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with brown outer rim on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with shiny texture on it.",
+    "Hold the blue bowl steady and slide the bowl with brown outer rim on.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Place the curved bowl light blue shade down and stack the medium-sized bowl for holding food on top.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with shiny texture neatly atop.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, position the bowl with shiny texture above it, and stack.",
+    "Stack the rounded bowl with light blue color securely on top of the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with the right arm.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food above it.",
+    "Grab the blue bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Lift the curved bowl light blue shade and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "the bowl with brown outer rim goes at the bottom, the small bowl with brown edge rests above.",
+    "Stack the curved bowl light blue shade carefully over the bowl with shiny texture.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.",
+    "Use the arm to place the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Put the bowl with shiny texture first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the right arm.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl on top.",
+    "Pick up the medium-sized bowl for holding food and set the curved bowl light blue shade on it.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with shiny texture on.",
+    "Pick up the curved bowl light blue shade, place it down, then position the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Align the blue bowl with slightly rounded base and the blue bowl, then stack the blue bowl on the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down and stack the dark inside bowl light blue outside on top.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Grab the glazed bowl with curved sides, set it down, then place the rounded bowl with light blue color over it.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base on top of the ceramic bowl.",
+    "Take the ceramic bowl, place the curved bowl light blue shade above, and let go.",
+    "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Stack the ceramic bowl carefully over the bowl with shiny texture.",
+    "Position the dark inside bowl light blue outside, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the curved bowl light blue shade above it.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with brown outer rim on it.",
+    "Set the bowl with shiny texture down, then add the rounded bowl with light blue color over it.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.",
+    "With the left arm, lift the small bowl with brown edge and stack the dark inside bowl light blue outside using the right arm.",
+    "Position the small bowl with brown edge carefully on the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Take the curved bowl light blue shade, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode226.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode226.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5ad6c63cb4be5d0b28571e73cf37373d68c430
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode226.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "With the right arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the left arm.",
+    "Pick the blue bowl with slightly rounded base, position the medium-sized bowl for holding food, and place it over the blue bowl with slightly rounded base.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the left arm.",
+    "Hold the blue bowl with slightly rounded base and stack the curved bowl light blue shade neatly atop.",
+    "Lift the glazed bowl with curved sides and position it neatly over the rounded bowl with light blue color.",
+    "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the ceramic bowl, then stack the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the glazed bowl with curved sides on top.",
+    "Arrange the blue bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, position the bowl with shiny texture above it, and stack.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the blue bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Set the rounded bowl with light blue color over the bowl with shiny texture to create the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the ceramic bowl over the small bowl with brown edge, then complete the stack.",
+    "Pick up the blue bowl using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Lift the dark inside bowl light blue outside, grab the ceramic bowl, and set the ceramic bowl on the dark inside bowl light blue outside.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the bowl with shiny texture and set the blue bowl on it.",
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl using the left arm.",
+    "Pick the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim, and place it over the rounded bowl with light blue color.",
+    "Take the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the left arm.",
+    "Hold the bowl with shiny texture and stack the blue bowl neatly atop.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the curved bowl light blue shade.",
+    "Grab the ceramic bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the blue bowl, then stack the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Lift the medium-sized bowl for holding food, position the small bowl with brown edge above it, and stack.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.",
+    "Lift the blue bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the bowl with shiny texture, grab the bowl with shiny texture, and stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Grab the glazed bowl with curved sides, position it, and place the small bowl with brown edge on top.",
+    "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.",
+    "Align the rounded bowl with light blue color and the curved bowl light blue shade, then stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color on top of the blue bowl with slightly rounded base.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Take the blue bowl, align the blue bowl, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the bowl with shiny texture on it.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside above it.",
+    "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Put the blue bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Position the dark inside bowl light blue outside and stack the bowl with brown outer rim securely onto it."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode227.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode227.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e466b33ed246420981e535726d10c4b25a061e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode227.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the dark inside bowl light blue outside and stack the blue bowl using the right arm.",
+    "Stack the bowl with shiny texture carefully over the glazed bowl with curved sides.",
+    "Set the dark inside bowl light blue outside down, then add the small bowl with brown edge over it.",
+    "Put the glazed bowl with curved sides first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl above it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim, and place it over the glazed bowl with curved sides.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Pick up the glazed bowl with curved sides and set the ceramic bowl with earthy brown trim on it.",
+    "Position the small bowl with brown edge, lift the ceramic bowl, and place the ceramic bowl on the small bowl with brown edge.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl.",
+    "Pick up the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the small bowl with brown edge on top.",
+    "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl using the right arm.",
+    "Grab the blue bowl, then stack the ceramic bowl on top.",
+    "Lift the ceramic bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the ceramic bowl.",
+    "Pick the blue bowl, then stack the curved bowl light blue shade on it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl on.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Align the bowl with brown outer rim over the bowl with brown outer rim, then complete the stack.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the rounded bowl with light blue color above it.",
+    "Pick the small bowl with brown edge, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Take the small bowl with brown edge, place the small bowl with brown edge above, and let go.",
+    "Lift the bowl with shiny texture, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Lift the blue bowl and position it neatly over the bowl with brown outer rim.",
+    "Set the medium-sized bowl for holding food over the bowl with shiny texture to create the stack.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base using the right arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Position the bowl with shiny texture and stack the glazed bowl with curved sides securely onto it.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.",
+    "Hold the curved bowl light blue shade and stack the bowl with shiny texture neatly atop.",
+    "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Position the blue bowl, lift the ceramic bowl, and place the ceramic bowl on the blue bowl.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Pick up the medium-sized bowl for holding food, grab the small bowl with brown edge, and stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with shiny texture on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with shiny texture on top.",
+    "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl using the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Hold the curved bowl light blue shade steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl above.",
+    "Take the dark inside bowl light blue outside, align the bowl with brown outer rim, and stack them.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl.",
+    "Place the curved bowl light blue shade down and stack the small bowl with brown edge on top.",
+    "Align the blue bowl over the bowl with shiny texture, then complete the stack.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the blue bowl with the right arm.",
+    "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the bowl with shiny texture above it.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grasp the blue bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Align the ceramic bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, place the bowl with shiny texture above, and let go.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "the blue bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the blue bowl using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl to create the stack.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the blue bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with brown outer rim using the right arm.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode228.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode228.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f46b58a41772f7c33fce3154d4ccb21878547dd
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode228.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with shiny texture.",
+    "Arrange the curved bowl light blue shade, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Pick up the small bowl with brown edge and set the glazed bowl with curved sides on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, position the bowl with brown outer rim above it, and stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Hold the ceramic bowl steady and slide the bowl with shiny texture on.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with shiny texture above it.",
+    "Take the small bowl with brown edge, place the medium-sized bowl for holding food above, and let go.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the blue bowl with slightly rounded base.",
+    "Align the glazed bowl with curved sides over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Pick the ceramic bowl, position the dark inside bowl light blue outside, and place it over the ceramic bowl.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the small bowl with brown edge using the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the medium-sized bowl for holding food on top.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides on top of the small bowl with brown edge.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the ceramic bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Use the arm to place the blue bowl, then stack the small bowl with brown edge on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Set the small bowl with brown edge over the ceramic bowl to create the stack.",
+    "Set the rounded bowl with light blue color down, then add the medium-sized bowl for holding food over it.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Pick the ceramic bowl, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the blue bowl with slightly rounded base and stack the small bowl with brown edge securely onto it.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with shiny texture above it.",
+    "Put the blue bowl with slightly rounded base first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl on it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the rounded bowl with light blue color down and stack the small bowl with brown edge on top.",
+    "Align the bowl with brown outer rim and the ceramic bowl, then stack the ceramic bowl on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the small bowl with brown edge, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Position the blue bowl with the arm, then set the glazed bowl with curved sides above it.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl with slightly rounded base.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the small bowl with brown edge, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the bowl with brown outer rim.",
+    "Set the blue bowl with slightly rounded base over the small bowl with brown edge to create the stack.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the small bowl with brown edge over it.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode229.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode229.json
new file mode 100644
index 0000000000000000000000000000000000000000..4af6af1c3968729ef3c65f3e770f1e074b3475b8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode229.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the curved bowl light blue shade, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture on top of the dark inside bowl light blue outside.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, place the dark inside bowl light blue outside above, and let go.",
+    "Take the bowl with brown outer rim, position it, then stack the ceramic bowl directly above.",
+    "Pick up the bowl with brown outer rim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl neatly atop.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Set down the bowl with brown outer rim and drop the blue bowl on top.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "With the right arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl to create the stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with shiny texture on top.",
+    "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the ceramic bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Align the dark inside bowl light blue outside over the rounded bowl with light blue color, then complete the stack.",
+    "Pick up the blue bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Lift the ceramic bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down and stack the bowl with shiny texture on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with brown outer rim above.",
+    "Hold the ceramic bowl steady and slide the small bowl with brown edge on.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the medium-sized bowl for holding food, position the bowl with shiny texture, and place it over the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food on top of the ceramic bowl.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Position the rounded bowl with light blue color with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the small bowl with brown edge, then stack it on the small bowl with brown edge.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Take the blue bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Put the dark inside bowl light blue outside first, then bring the medium-sized bowl for holding food to stack above.",
+    "Hold the small bowl with brown edge and stack the rounded bowl with light blue color neatly atop.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl with slightly rounded base on top.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl with earthy brown trim over it.",
+    "Stack the bowl with brown outer rim carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "With the right arm, lift the bowl with shiny texture and stack the blue bowl using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl above it.",
+    "Align the small bowl with brown edge over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge with the left arm.",
+    "Arrange the rounded bowl with light blue color, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the small bowl with brown edge above.",
+    "Hold the rounded bowl with light blue color steady and slide the curved bowl light blue shade on.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl, and stack them.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl, and set the blue bowl on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode23.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode23.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b65fe29a277b4e6b9d4c7352d5e2b3d2c4ccd9a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode23.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl above it, and stack.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl and stack the bowl with shiny texture securely onto it.",
+    "Lift the ceramic bowl, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, grab the blue bowl, and stack the blue bowl on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Take the medium-sized bowl for holding food, align the bowl with brown outer rim, and stack them.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the glazed bowl with curved sides above it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Align the blue bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the ceramic bowl using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on it.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with brown outer rim on top.",
+    "Arrange the bowl with shiny texture, lift the small bowl with brown edge with the arm, and stack them.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Pick the bowl with brown outer rim, position on the table, and place the curved bowl light blue shade over it.",
+    "Pick up the bowl with brown outer rim and set the glazed bowl with curved sides on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Grab the ceramic bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set the bowl with brown outer rim down, then add the rounded bowl with light blue color over it.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge above it.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set the curved bowl light blue shade over the blue bowl to create the stack.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grab the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with brown outer rim directly above.",
+    "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Stack the ceramic bowl carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick up the bowl with shiny texture, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Take the rounded bowl with light blue color, align the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl on top of the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Position the curved bowl light blue shade carefully on the small bowl with brown edge.",
+    "Take the bowl with shiny texture, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Grab the blue bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl on it.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl, and place the ceramic bowl on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.",
+    "Arrange the dark inside bowl light blue outside, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with shiny texture.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Set down the blue bowl with slightly rounded base and drop the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl, then carefully place the rounded bowl with light blue color on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture above it.",
+    "the medium-sized bowl for holding food goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Set the blue bowl with slightly rounded base over the small bowl with brown edge to create the stack."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode230.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode230.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfa4b7f757d44d45915107847bf8a733ea77645c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode230.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Place the bowl with shiny texture down and stack the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Pick the ceramic bowl, then stack the glazed bowl with curved sides on it.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the blue bowl, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.",
+    "Align the ceramic bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base above it.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Take the small bowl with brown edge, place it, and stack the curved bowl light blue shade on top.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl with earthy brown trim.",
+    "Put the bowl with brown outer rim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl above.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with brown outer rim over it.",
+    "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Set the bowl with shiny texture over the bowl with brown outer rim to create the stack.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Take the dark inside bowl light blue outside, align the rounded bowl with light blue color, and stack them.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Pick the blue bowl with slightly rounded base, position the small bowl with brown edge, and place it over the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.",
+    "Hold the rounded bowl with light blue color steady and slide the small bowl with brown edge on.",
+    "Set down the blue bowl with slightly rounded base and drop the rounded bowl with light blue color on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "With the right arm, lift the bowl with shiny texture and stack the ceramic bowl using the left arm.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Place the bowl with brown outer rim down and stack the small bowl with brown edge on top.",
+    "Place the ceramic bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "the blue bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Use the arm to place the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Align the blue bowl with slightly rounded base and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Align the bowl with shiny texture over the rounded bowl with light blue color, then complete the stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl on top.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the rounded bowl with light blue color over it.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.",
+    "Pick the ceramic bowl, position the rounded bowl with light blue color, and place it over the ceramic bowl.",
+    "Grab the blue bowl, position it, and place the blue bowl on top.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.",
+    "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the left arm.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Position the glazed bowl with curved sides and stack the small bowl with brown edge securely onto it.",
+    "Take the ceramic bowl, place the glazed bowl with curved sides above, and let go.",
+    "Place the glazed bowl with curved sides down and stack the medium-sized bowl for holding food on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode231.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode231.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3bdea21b2654b2e79736c90943e13dbb0de481b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode231.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.",
+    "Grab the curved bowl light blue shade, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Put the bowl with shiny texture first, then bring the bowl with shiny texture to stack above.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "With the left arm, lift the ceramic bowl and stack the ceramic bowl using the right arm.",
+    "Lift the bowl with shiny texture, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the medium-sized bowl for holding food.",
+    "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grab the glazed bowl with curved sides, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim, and place it over the blue bowl with slightly rounded base.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with shiny texture.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the dark inside bowl light blue outside on top.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Take the blue bowl, place the glazed bowl with curved sides above, and let go.",
+    "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.",
+    "Set the glazed bowl with curved sides over the bowl with brown outer rim to create the stack.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.",
+    "Pick up the medium-sized bowl for holding food and set the glazed bowl with curved sides on it.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Grab the curved bowl light blue shade, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the small bowl with brown edge above.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl neatly atop.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the small bowl with brown edge on.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick the blue bowl, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Put the small bowl with brown edge first, then bring the rounded bowl with light blue color to stack above.",
+    "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.",
+    "With the left arm, lift the small bowl with brown edge and stack the rounded bowl with light blue color using the right arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with the arm, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl on top.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Lift the bowl with shiny texture and position it neatly over the glazed bowl with curved sides.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl, then complete the stack.",
+    "Grab the bowl with shiny texture, set it down, then place the rounded bowl with light blue color over it.",
+    "Pick the curved bowl light blue shade, position the blue bowl, and place it over the curved bowl light blue shade.",
+    "Align the medium-sized bowl for holding food and the ceramic bowl, then stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, align the rounded bowl with light blue color, and stack them.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl using the right arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Set the glazed bowl with curved sides over the rounded bowl with light blue color to create the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl with slightly rounded base on it.",
+    "Lift the curved bowl light blue shade, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.",
+    "Grab the blue bowl, then carefully place the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Grab the bowl with brown outer rim, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Pick the blue bowl, then stack the blue bowl on it.",
+    "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode232.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode232.json
new file mode 100644
index 0000000000000000000000000000000000000000..1170c514309db99775e3922bdaa7b3b178a37e7c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode232.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Pick the curved bowl light blue shade, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Grab the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Stack the bowl with shiny texture carefully over the bowl with brown outer rim.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Lift the ceramic bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.",
+    "With the right arm, lift the ceramic bowl and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Take the medium-sized bowl for holding food, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Position the bowl with brown outer rim and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Set the medium-sized bowl for holding food over the curved bowl light blue shade to create the stack.",
+    "Take the blue bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.",
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Hold the glazed bowl with curved sides and stack the bowl with brown outer rim neatly atop.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl over it.",
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the rounded bowl with light blue color directly above.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with brown outer rim.",
+    "Set down the ceramic bowl and drop the blue bowl on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the blue bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color above it.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Align the blue bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "With the right arm, lift the blue bowl and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the small bowl with brown edge, place the ceramic bowl above, and let go.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with shiny texture on top.",
+    "Use the right arm for the blue bowl, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the small bowl with brown edge.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick up the small bowl with brown edge and set the dark inside bowl light blue outside on it.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl with slightly rounded base on.",
+    "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.",
+    "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge on top of the small bowl with brown edge.",
+    "Align the curved bowl light blue shade and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl on top.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grab the ceramic bowl, position it, and place the blue bowl on top.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl.",
+    "Set the dark inside bowl light blue outside down, then add the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Hold the curved bowl light blue shade and stack the blue bowl neatly atop."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode233.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode233.json
new file mode 100644
index 0000000000000000000000000000000000000000..89517d2f6c1942553e43f8c9edd38b579bf1a79b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode233.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the rounded bowl with light blue color over the bowl with shiny texture to create the stack.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim on top of the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with shiny texture on top.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Set the bowl with brown outer rim down, then add the blue bowl with slightly rounded base over it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Take the ceramic bowl, align the curved bowl light blue shade, and stack them.",
+    "Align the ceramic bowl with earthy brown trim over the medium-sized bowl for holding food, then complete the stack.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color and set the small bowl with brown edge on it.",
+    "Grab the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with shiny texture over it.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Stack the dark inside bowl light blue outside carefully over the rounded bowl with light blue color.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with shiny texture on top.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Hold the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the rounded bowl with light blue color, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Pick the ceramic bowl, position the blue bowl, and place it over the ceramic bowl.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Hold the curved bowl light blue shade steady and slide the small bowl with brown edge on.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "With the right arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the left arm.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside above it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grasp the blue bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Position the dark inside bowl light blue outside, lift the small bowl with brown edge, and place the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl and position it neatly over the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, then stack the curved bowl light blue shade on it.",
+    "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the small bowl with brown edge over it.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl rests above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the curved bowl light blue shade, position the small bowl with brown edge above it, and stack.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Pick up the blue bowl, place it down, then position the bowl with shiny texture on top.",
+    "Place the bowl with brown outer rim down and stack the curved bowl light blue shade on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl on top.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl.",
+    "Hold the bowl with shiny texture and stack the medium-sized bowl for holding food neatly atop.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.",
+    "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl.",
+    "Grab the bowl with brown outer rim, set it down, then place the rounded bowl with light blue color over it.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "With the right arm, lift the blue bowl and stack the glazed bowl with curved sides using the left arm.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides above it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base on top of the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode234.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode234.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6982b96531a7b63678c9add28fb0531e3b1695a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode234.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base on top of the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl on top.",
+    "Place the curved bowl light blue shade down, then set the blue bowl above it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the glazed bowl with curved sides using the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Position the glazed bowl with curved sides, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Arrange the bowl with shiny texture, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Grab the glazed bowl with curved sides, set it down, then place the small bowl with brown edge over it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.",
+    "Take the curved bowl light blue shade, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Set down the rounded bowl with light blue color and drop the bowl with shiny texture on top.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position the small bowl with brown edge, and place it over the blue bowl with slightly rounded base.",
+    "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, put it on the table, and stack the blue bowl above.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Put the small bowl with brown edge first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the bowl with brown outer rim and position it neatly over the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the medium-sized bowl for holding food.",
+    "Position the blue bowl carefully on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, position the dark inside bowl light blue outside above it, and stack.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl, and stack them.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture on top of the rounded bowl with light blue color.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl using the right arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl neatly atop.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "Align the small bowl with brown edge and the ceramic bowl, then stack the ceramic bowl on the small bowl with brown edge.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl with earthy brown trim on it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the bowl with shiny texture using the right arm.",
+    "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Take the dark inside bowl light blue outside, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with shiny texture on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Stack the bowl with brown outer rim securely on top of the glazed bowl with curved sides.",
+    "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.",
+    "Stack the dark inside bowl light blue outside carefully over the ceramic bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the blue bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, then stack it on the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode235.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode235.json
new file mode 100644
index 0000000000000000000000000000000000000000..257c6a3cfbf8adac07078cd3330d4c659715dcdc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode235.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the blue bowl with slightly rounded base.",
+    "Set the small bowl with brown edge down, then add the medium-sized bowl for holding food over it.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the blue bowl.",
+    "Hold the ceramic bowl steady and slide the rounded bowl with light blue color on.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the curved bowl light blue shade above it.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl above.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color and stack the dark inside bowl light blue outside securely onto it.",
+    "Position the small bowl with brown edge carefully on the blue bowl.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the glazed bowl with curved sides over it.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the ceramic bowl, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Lift the dark inside bowl light blue outside, position the medium-sized bowl for holding food above it, and stack.",
+    "Take the ceramic bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "With the left arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick up the ceramic bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Put the glazed bowl with curved sides first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with shiny texture neatly atop.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Stack the rounded bowl with light blue color carefully over the dark inside bowl light blue outside.",
+    "Align the ceramic bowl and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl.",
+    "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Place the ceramic bowl with earthy brown trim down and stack the dark inside bowl light blue outside on top.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, align the rounded bowl with light blue color, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Align the curved bowl light blue shade over the bowl with shiny texture, then complete the stack.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Set the bowl with brown outer rim down, then add the bowl with brown outer rim over it.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl with earthy brown trim on.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the small bowl with brown edge above.",
+    "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl rests above.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.",
+    "Lift the bowl with brown outer rim, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with brown outer rim.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the blue bowl, then carefully place the bowl with brown outer rim on top.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with brown outer rim.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Take the glazed bowl with curved sides, place the bowl with brown outer rim above, and let go.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the ceramic bowl using the left arm.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Put the curved bowl light blue shade first, then bring the dark inside bowl light blue outside to stack above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture on top of the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, align the curved bowl light blue shade, and stack them.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode236.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode236.json
new file mode 100644
index 0000000000000000000000000000000000000000..06855450f3c6cc96ce6da87a90e79bd2a1013983
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode236.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Pick the rounded bowl with light blue color, then stack the small bowl with brown edge on it.",
+    "Lift the ceramic bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Arrange the bowl with brown outer rim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.",
+    "Align the blue bowl with slightly rounded base and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.",
+    "Pick the blue bowl with slightly rounded base, position the medium-sized bowl for holding food, and place it over the blue bowl with slightly rounded base.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Set the bowl with shiny texture down, then add the bowl with brown outer rim over it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with shiny texture.",
+    "Pick up the ceramic bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the ceramic bowl.",
+    "Set down the medium-sized bowl for holding food and drop the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl.",
+    "Hold the bowl with shiny texture and stack the rounded bowl with light blue color neatly atop.",
+    "Grab the blue bowl, position it, and place the curved bowl light blue shade on top.",
+    "Take the bowl with shiny texture, align the dark inside bowl light blue outside, and stack them.",
+    "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Put the bowl with shiny texture first, then bring the small bowl with brown edge to stack above.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with brown outer rim on.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Align the small bowl with brown edge over the blue bowl, then complete the stack.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with shiny texture directly above.",
+    "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Position the ceramic bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Pick the ceramic bowl with earthy brown trim, position the blue bowl, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grasp the blue bowl, then use the arm to align and stack the rounded bowl with light blue color.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the left arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the curved bowl light blue shade.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Place the blue bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the small bowl with brown edge over it.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food on top of the bowl with shiny texture.",
+    "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl, and stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Set down the blue bowl and drop the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Lift the ceramic bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Grab the blue bowl, position it, and place the ceramic bowl on top.",
+    "Take the dark inside bowl light blue outside, align the curved bowl light blue shade, and stack them.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Pick up the dark inside bowl light blue outside and set the rounded bowl with light blue color on it.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with brown outer rim.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.",
+    "Take the bowl with shiny texture, place the medium-sized bowl for holding food above, and let go.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.",
+    "Grab the blue bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode237.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode237.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ba8f83a2188e4bfa45b1b7537a1c34ecec310d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode237.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bowl with brown outer rim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grasp the blue bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the small bowl with brown edge on the surface, then stack the glazed bowl with curved sides above it.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl on top.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the bowl with brown outer rim, lift the blue bowl, and place the blue bowl on the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "the bowl with shiny texture goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the ceramic bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Stack the bowl with shiny texture carefully over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, position the bowl with shiny texture above it, and stack.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl, and set the ceramic bowl on the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with shiny texture on top.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the small bowl with brown edge securely on top of the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with shiny texture on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim on top.",
+    "Hold the blue bowl steady and slide the blue bowl on.",
+    "Pick up the blue bowl, place it down, then position the blue bowl on top.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl on top.",
+    "Align the rounded bowl with light blue color over the dark inside bowl light blue outside, then complete the stack.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the small bowl with brown edge above.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with brown outer rim.",
+    "Take the ceramic bowl, align the bowl with shiny texture, and stack them.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the right arm.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color on top of the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge over the medium-sized bowl for holding food to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Set down the blue bowl and drop the rounded bowl with light blue color on top.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the bowl with brown outer rim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl.",
+    "Lift the rounded bowl with light blue color, position the curved bowl light blue shade above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Place the dark inside bowl light blue outside down and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with brown outer rim.",
+    "Take the small bowl with brown edge, place the small bowl with brown edge above, and let go.",
+    "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Stack the blue bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl on it.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the curved bowl light blue shade.",
+    "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Set the bowl with brown outer rim down, then add the blue bowl over it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Hold the blue bowl steady and slide the bowl with shiny texture on.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the small bowl with brown edge on top.",
+    "Pick the blue bowl, position the bowl with brown outer rim, and place it over the blue bowl.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the curved bowl light blue shade on top.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Position the bowl with brown outer rim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick up the curved bowl light blue shade, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the bowl with shiny texture using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Grab the rounded bowl with light blue color, set it down, then place the rounded bowl with light blue color over it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode238.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode238.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c5881c4dcafef59928ef5f5a5e8aedc8d32f2d0
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode238.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.",
+    "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the left arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the glazed bowl with curved sides, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the medium-sized bowl for holding food and set the curved bowl light blue shade on it.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl on it.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, position the bowl with shiny texture above it, and stack.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl above it.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "the blue bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Lift the blue bowl using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the rounded bowl with light blue color, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the medium-sized bowl for holding food on top.",
+    "Stack the rounded bowl with light blue color carefully over the medium-sized bowl for holding food.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Take the small bowl with brown edge, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the dark inside bowl light blue outside over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides on top of the ceramic bowl.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "With the left arm, lift the bowl with brown outer rim and stack the small bowl with brown edge using the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade, then stack the bowl with brown outer rim on top.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the glazed bowl with curved sides, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge on top.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with the left arm.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on it.",
+    "Grab the blue bowl with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the bowl with brown outer rim and position it neatly over the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, position the glazed bowl with curved sides above it, and stack.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture above it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Position the small bowl with brown edge carefully on the rounded bowl with light blue color.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl above it.",
+    "Use the arm to place the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the bowl with shiny texture, set it down, then place the medium-sized bowl for holding food over it.",
+    "Take the bowl with brown outer rim, align the ceramic bowl, and stack them.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Arrange the bowl with brown outer rim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl on top.",
+    "Stack the bowl with shiny texture carefully over the glazed bowl with curved sides.",
+    "Align the medium-sized bowl for holding food and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Take the glazed bowl with curved sides, place the bowl with brown outer rim above, and let go.",
+    "Pick up the ceramic bowl using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the curved bowl light blue shade, position the bowl with shiny texture, and place it over the curved bowl light blue shade.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the curved bowl light blue shade, then stack it on the small bowl with brown edge.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside on top of the blue bowl."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode239.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode239.json
new file mode 100644
index 0000000000000000000000000000000000000000..649d365657cf29aea8a4d6cddbf3eea69651030e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode239.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the small bowl with brown edge on top.",
+    "Position the bowl with brown outer rim carefully on the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl over it.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl, and stack them.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Align the small bowl with brown edge over the bowl with shiny texture, then complete the stack.",
+    "Place the blue bowl down, then set the bowl with brown outer rim on top of the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Hold the blue bowl and stack the curved bowl light blue shade neatly atop.",
+    "Take the bowl with shiny texture, place the blue bowl above, and let go.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Arrange the glazed bowl with curved sides, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the rounded bowl with light blue color above it.",
+    "Align the blue bowl with slightly rounded base and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the small bowl with brown edge.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl on top.",
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Put the blue bowl first, then bring the ceramic bowl to stack above.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the right arm.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the bowl with brown outer rim, place it down, then position the curved bowl light blue shade on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl above it.",
+    "Position the bowl with shiny texture and stack the blue bowl securely onto it.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside, lift the small bowl with brown edge, and place the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food over the glazed bowl with curved sides, then complete the stack.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Hold the glazed bowl with curved sides and stack the rounded bowl with light blue color neatly atop.",
+    "Take the bowl with brown outer rim, place the blue bowl above, and let go.",
+    "Grab the bowl with brown outer rim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Stack the ceramic bowl carefully over the bowl with shiny texture.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Align the dark inside bowl light blue outside and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with brown outer rim to create the stack.",
+    "Lift the blue bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl.",
+    "Pick up the small bowl with brown edge and set the rounded bowl with light blue color on it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the blue bowl and position it neatly over the rounded bowl with light blue color.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the ceramic bowl, position the rounded bowl with light blue color, and place it over the ceramic bowl.",
+    "Set down the small bowl with brown edge and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the glazed bowl with curved sides, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.",
+    "Put the bowl with brown outer rim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Place the small bowl with brown edge down and stack the rounded bowl with light blue color on top.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Place the blue bowl down, then set the blue bowl above it.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the bowl with shiny texture using the right arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick the small bowl with brown edge, then stack the curved bowl light blue shade on it.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode24.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode24.json
new file mode 100644
index 0000000000000000000000000000000000000000..50516c094a34453a5e53d45f554419204c99bb77
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode24.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "Take the blue bowl, align the rounded bowl with light blue color, and stack them.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the blue bowl with the right arm.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Position the bowl with brown outer rim with the arm, then set the small bowl with brown edge above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl above it.",
+    "Set down the ceramic bowl and drop the rounded bowl with light blue color on top.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Hold the dark inside bowl light blue outside steady and slide the glazed bowl with curved sides on.",
+    "Align the glazed bowl with curved sides over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the bowl with shiny texture, position the medium-sized bowl for holding food, and place it over the bowl with shiny texture.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Put the bowl with shiny texture first, then bring the small bowl with brown edge to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl on top.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the blue bowl, then stack the ceramic bowl on top.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the ceramic bowl, grab the blue bowl, and set the blue bowl on the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Stack the curved bowl light blue shade securely on top of the small bowl with brown edge.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the small bowl with brown edge down and stack the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Stack the bowl with brown outer rim carefully over the medium-sized bowl for holding food.",
+    "Set the small bowl with brown edge down, then add the bowl with shiny texture over it.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.",
+    "Align the medium-sized bowl for holding food and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the bowl with shiny texture, position the bowl with brown outer rim above it, and stack.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the right arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Use the arm to place the bowl with brown outer rim, then stack the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl above it.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "Pick the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with brown outer rim on.",
+    "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.",
+    "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl on top.",
+    "Arrange the small bowl with brown edge, lift the ceramic bowl with the arm, and stack them.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Set the bowl with brown outer rim over the curved bowl light blue shade to create the stack.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Set the ceramic bowl with earthy brown trim down, then add the medium-sized bowl for holding food over it.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the blue bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the blue bowl and stack the bowl with brown outer rim securely onto it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the bowl with shiny texture, position the small bowl with brown edge above it, and stack.",
+    "Take the bowl with shiny texture, align the ceramic bowl, and stack them."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode240.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode240.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd46146630e0390dfb2607bcb4b10e3370c4de15
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode240.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the rounded bowl with light blue color on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, then stack the medium-sized bowl for holding food on it.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl and set the medium-sized bowl for holding food on it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the small bowl with brown edge on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Take the medium-sized bowl for holding food, align the blue bowl, and stack them.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Pick up the ceramic bowl, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with brown outer rim above it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base neatly atop.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Position the rounded bowl with light blue color, lift the bowl with shiny texture, and place the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl with earthy brown trim down and stack the dark inside bowl light blue outside on top.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl over it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the blue bowl, then stack it on the bowl with shiny texture.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the rounded bowl with light blue color over it.",
+    "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl with slightly rounded base.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the left arm.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Grab the blue bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Pick the rounded bowl with light blue color, then stack the curved bowl light blue shade on it.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside on top of the small bowl with brown edge.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the bowl with brown outer rim and set the bowl with shiny texture on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Set down the small bowl with brown edge and drop the blue bowl on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with brown outer rim above it.",
+    "Take the blue bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the rounded bowl with light blue color, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Set the dark inside bowl light blue outside over the glazed bowl with curved sides to create the stack.",
+    "Pick up the small bowl with brown edge, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the small bowl with brown edge with the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Position the rounded bowl with light blue color, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.",
+    "Put the bowl with brown outer rim first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.",
+    "Align the medium-sized bowl for holding food and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the left arm.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the small bowl with brown edge, then carefully place the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode241.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode241.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6e6adf781ef3fe2ca84f5ed6b2d0fc0ec828ff4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode241.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl with slightly rounded base over it.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside above it.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Set down the rounded bowl with light blue color and drop the rounded bowl with light blue color on top.",
+    "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the curved bowl light blue shade on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the rounded bowl with light blue color over it.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "Position the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides and set the glazed bowl with curved sides on it.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with shiny texture over it.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Place the small bowl with brown edge down and stack the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.",
+    "Put the small bowl with brown edge first, then bring the bowl with shiny texture to stack above.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with brown outer rim directly above.",
+    "With the right arm, lift the small bowl with brown edge and stack the small bowl with brown edge using the left arm.",
+    "Grab the blue bowl, then stack the glazed bowl with curved sides on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the curved bowl light blue shade on top.",
+    "Hold the bowl with shiny texture and stack the bowl with shiny texture neatly atop.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl on top.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Place the medium-sized bowl for holding food down, then set the medium-sized bowl for holding food above it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl with earthy brown trim on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Take the curved bowl light blue shade, align the ceramic bowl, and stack them.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the dark inside bowl light blue outside over it.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Lift the bowl with brown outer rim, position the glazed bowl with curved sides above it, and stack.",
+    "Position the ceramic bowl with earthy brown trim carefully on the medium-sized bowl for holding food.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Pick the rounded bowl with light blue color, position the blue bowl, and place it over the rounded bowl with light blue color.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl with slightly rounded base on it.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the curved bowl light blue shade over it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.",
+    "Lift the bowl with shiny texture, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with shiny texture.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with shiny texture above.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Align the dark inside bowl light blue outside over the small bowl with brown edge, then complete the stack.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base to create the stack.",
+    "Put the bowl with brown outer rim first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the curved bowl light blue shade, position it, then stack the glazed bowl with curved sides directly above.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the blue bowl using the left arm.",
+    "Grab the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the bowl with shiny texture, place it down, then position the glazed bowl with curved sides on top.",
+    "Grab the bowl with brown outer rim, position it, and place the dark inside bowl light blue outside on top.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl neatly atop.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode242.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode242.json
new file mode 100644
index 0000000000000000000000000000000000000000..40fdc4b0949c2086face7386680b49a45c309985
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode242.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bowl for holding food, set it down, then place the curved bowl light blue shade over it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture on top of the ceramic bowl with earthy brown trim.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Set down the dark inside bowl light blue outside and drop the dark inside bowl light blue outside on top.",
+    "Pick the bowl with shiny texture, then stack the dark inside bowl light blue outside on it.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Set the medium-sized bowl for holding food down, then add the glazed bowl with curved sides over it.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.",
+    "Hold the blue bowl steady and slide the dark inside bowl light blue outside on.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl using the left arm.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "With the right arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl rests above.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the medium-sized bowl for holding food.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, then carefully place the dark inside bowl light blue outside on top.",
+    "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl over it.",
+    "Pick up the small bowl with brown edge, place it down, then position the small bowl with brown edge on top.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down and stack the bowl with brown outer rim on top.",
+    "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.",
+    "Pick the bowl with brown outer rim, then stack the glazed bowl with curved sides on it.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Pick up the bowl with brown outer rim and set the blue bowl on it.",
+    "Lift the ceramic bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl over it.",
+    "Take the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Set the ceramic bowl with earthy brown trim over the rounded bowl with light blue color to create the stack.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Hold the curved bowl light blue shade and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Use the right arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, position the rounded bowl with light blue color, and place it over the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Arrange the bowl with shiny texture, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Take the bowl with shiny texture, align the dark inside bowl light blue outside, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Position the small bowl with brown edge, lift the ceramic bowl, and place the ceramic bowl on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode243.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode243.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8ff33d96996f54577219f6ea9de308b58688c1e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode243.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Set the curved bowl light blue shade over the rounded bowl with light blue color to create the stack.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl, and stack the ceramic bowl on the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them.",
+    "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl above.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Align the glazed bowl with curved sides over the bowl with shiny texture, then complete the stack.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with shiny texture.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with brown outer rim over it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the curved bowl light blue shade on top.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl to stack above.",
+    "Position the curved bowl light blue shade and stack the small bowl with brown edge securely onto it.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl, and set the blue bowl on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Set down the bowl with brown outer rim and drop the blue bowl on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on it.",
+    "Align the ceramic bowl with earthy brown trim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl rests above.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.",
+    "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.",
+    "Set the blue bowl with slightly rounded base down, then add the blue bowl over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the small bowl with brown edge.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the left arm.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides using the left arm.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Position the rounded bowl with light blue color, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the blue bowl, position it, and place the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the small bowl with brown edge on top.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "Take the ceramic bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with shiny texture on it.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the small bowl with brown edge.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside and set the dark inside bowl light blue outside on it.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.",
+    "Hold the rounded bowl with light blue color steady and slide the rounded bowl with light blue color on.",
+    "Set the bowl with shiny texture down, then add the rounded bowl with light blue color over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Stack the ceramic bowl securely on top of the curved bowl light blue shade.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the curved bowl light blue shade above it.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode244.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode244.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f9e10f73ece1205149eacc75d106fd015da08be
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode244.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Set the dark inside bowl light blue outside over the bowl with brown outer rim to create the stack.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with brown outer rim above.",
+    "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Put the small bowl with brown edge first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Arrange the bowl with shiny texture, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the dark inside bowl light blue outside over it.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the glazed bowl with curved sides and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl.",
+    "Pick the ceramic bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "With the right arm, lift the ceramic bowl and stack the bowl with brown outer rim using the left arm.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Position the glazed bowl with curved sides and stack the blue bowl securely onto it.",
+    "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with the left arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, then stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Place the small bowl with brown edge down, then set the blue bowl above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Place the ceramic bowl down and stack the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with shiny texture on.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the rounded bowl with light blue color over it.",
+    "Take the curved bowl light blue shade, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Position the blue bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the blue bowl, align the blue bowl, and stack them.",
+    "Align the medium-sized bowl for holding food and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade, grab the small bowl with brown edge, and stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl on it.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "With the right arm, lift the blue bowl and stack the blue bowl using the left arm.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the small bowl with brown edge and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Position the bowl with brown outer rim carefully on the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl on top.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick up the ceramic bowl using the right arm, then stack the ceramic bowl using the left arm.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.",
+    "Pick the ceramic bowl, position the bowl with brown outer rim, and place it over the ceramic bowl.",
+    "the blue bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with brown outer rim above it.",
+    "Align the rounded bowl with light blue color over the rounded bowl with light blue color, then complete the stack.",
+    "Hold the blue bowl and stack the small bowl with brown edge neatly atop.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl with earthy brown trim on.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode245.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode245.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e9f4eeb4167cb3f328bf8c85d268b4be4b3c8fc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode245.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue bowl down, then set the medium-sized bowl for holding food on top of the blue bowl.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the small bowl with brown edge, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with brown outer rim over it.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside above it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Hold the ceramic bowl steady and slide the blue bowl on.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Pick up the blue bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Set the bowl with brown outer rim down, then add the blue bowl over it.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food, then stack it on the medium-sized bowl for holding food.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Put the blue bowl first, then bring the small bowl with brown edge to stack above.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "With the left arm, lift the blue bowl and stack the dark inside bowl light blue outside using the right arm.",
+    "Pick the medium-sized bowl for holding food, then stack the blue bowl on it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.",
+    "Pick up the blue bowl using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the small bowl with brown edge.",
+    "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade and set the small bowl with brown edge on it.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim on top of the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "the small bowl with brown edge goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the ceramic bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Take the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade above it.",
+    "Arrange the bowl with shiny texture, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl over it.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with shiny texture, and stack them.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Set down the glazed bowl with curved sides and drop the rounded bowl with light blue color on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Stack the blue bowl securely on top of the medium-sized bowl for holding food.",
+    "Pick up the small bowl with brown edge, grab the bowl with shiny texture, and stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.",
+    "Position the ceramic bowl with the arm, then set the bowl with shiny texture above it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim to create the stack.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the right arm.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl above.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Align the blue bowl with slightly rounded base over the blue bowl, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Position the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the right arm.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl on top."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode246.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode246.json
new file mode 100644
index 0000000000000000000000000000000000000000..474c7ce6e5909b643a5d1a0985c1500ffffa38e4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode246.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Align the dark inside bowl light blue outside over the blue bowl, then complete the stack.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Stack the ceramic bowl securely on top of the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl above.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Set the dark inside bowl light blue outside over the dark inside bowl light blue outside to create the stack.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with brown outer rim neatly atop.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with shiny texture down and stack the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with brown outer rim.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the ceramic bowl using the right arm.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Arrange the bowl with brown outer rim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, then stack it on the rounded bowl with light blue color.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the blue bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with brown outer rim on top.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "the glazed bowl with curved sides goes at the bottom, the curved bowl light blue shade rests above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the ceramic bowl over it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Position the bowl with shiny texture carefully on the rounded bowl with light blue color.",
+    "Take the curved bowl light blue shade, place the bowl with shiny texture above, and let go.",
+    "Lift the blue bowl, position the curved bowl light blue shade above it, and stack.",
+    "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl, then complete the stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Set the blue bowl down, then add the ceramic bowl over it.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Put the curved bowl light blue shade first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the curved bowl light blue shade, then stack the curved bowl light blue shade on it.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Set the curved bowl light blue shade over the glazed bowl with curved sides to create the stack.",
+    "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "With the left arm, lift the ceramic bowl and stack the glazed bowl with curved sides using the right arm.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl with earthy brown trim on it.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside on top of the ceramic bowl.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Pick up the blue bowl using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color above it.",
+    "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick the dark inside bowl light blue outside, position the bowl with shiny texture, and place it over the dark inside bowl light blue outside.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Take the bowl with shiny texture, place the glazed bowl with curved sides above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Lift the blue bowl, lay it down, and stack the medium-sized bowl for holding food on top."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode247.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode247.json
new file mode 100644
index 0000000000000000000000000000000000000000..bee89e5d55fef1d28a3600fae92375deeef44590
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode247.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded bowl with light blue color, then stack it on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "the bowl with shiny texture goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Align the dark inside bowl light blue outside over the small bowl with brown edge, then complete the stack.",
+    "Take the curved bowl light blue shade, place it, and stack the curved bowl light blue shade on top.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with brown outer rim securely onto it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides neatly atop.",
+    "Place the rounded bowl with light blue color on the surface, then stack the blue bowl above it.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the blue bowl, position the blue bowl above it, and stack.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Pick up the blue bowl and set the blue bowl on it.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim using the right arm.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "Pick the glazed bowl with curved sides, position the dark inside bowl light blue outside, and place it over the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food on top of the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade and position it neatly over the medium-sized bowl for holding food.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the small bowl with brown edge on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the blue bowl with the right arm.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Take the curved bowl light blue shade, position it, then stack the bowl with brown outer rim directly above.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl with slightly rounded base and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, grab the bowl with shiny texture, and stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Arrange the small bowl with brown edge, lift the blue bowl with the arm, and stack them.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base neatly atop.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl above it.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Position the dark inside bowl light blue outside, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim with the arm, then set the bowl with shiny texture above it.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "Lift the bowl with shiny texture, position the small bowl with brown edge above it, and stack.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the rounded bowl with light blue color and set the bowl with shiny texture on it.",
+    "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the right arm.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl to create the stack.",
+    "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode248.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode248.json
new file mode 100644
index 0000000000000000000000000000000000000000..5670719342ebefde046e6b020a742718962c236b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode248.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Align the medium-sized bowl for holding food over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl, and stack the blue bowl on the medium-sized bowl for holding food.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl, and place the blue bowl on the dark inside bowl light blue outside.",
+    "Align the small bowl with brown edge and the blue bowl, then stack the blue bowl on the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with brown outer rim.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the curved bowl light blue shade on it.",
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the bowl with shiny texture with the arm, then set the curved bowl light blue shade above it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.",
+    "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the bowl with shiny texture, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the blue bowl using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Take the small bowl with brown edge, align the bowl with shiny texture, and stack them.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the curved bowl light blue shade down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Hold the dark inside bowl light blue outside steady and slide the rounded bowl with light blue color on.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with shiny texture.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.",
+    "Pick up the rounded bowl with light blue color, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Position the blue bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl.",
+    "Align the curved bowl light blue shade and the curved bowl light blue shade, then stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside above it.",
+    "Set down the medium-sized bowl for holding food and drop the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the small bowl with brown edge on it.",
+    "Lift the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Pick the ceramic bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the glazed bowl with curved sides over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl above.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Put the medium-sized bowl for holding food first, then bring the curved bowl light blue shade to stack above.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Place the bowl with shiny texture on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside on top of the rounded bowl with light blue color.",
+    "Take the ceramic bowl, place it, and stack the blue bowl on top.",
+    "Take the blue bowl, align the rounded bowl with light blue color, and stack them.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Place the dark inside bowl light blue outside down and stack the small bowl with brown edge on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the small bowl with brown edge on top.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Position the ceramic bowl carefully on the blue bowl.",
+    "With the right arm, lift the bowl with brown outer rim and stack the ceramic bowl using the right arm.",
+    "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "the small bowl with brown edge goes at the bottom, the bowl with shiny texture rests above.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode249.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode249.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6169c2b809461279d0507aa5d930a0ee5a45a60
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode249.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.",
+    "Arrange the bowl with shiny texture, lift the bowl with shiny texture with the arm, and stack them.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl to stack above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Position the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Hold the bowl with shiny texture and stack the small bowl with brown edge neatly atop.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl using the right arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with brown outer rim above it.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl on top of the medium-sized bowl for holding food.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the bowl with shiny texture using the right arm.",
+    "Position the ceramic bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the right arm.",
+    "Hold the blue bowl steady and slide the rounded bowl with light blue color on.",
+    "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl, then complete the stack.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Take the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, set it down, then place the medium-sized bowl for holding food over it.",
+    "Take the ceramic bowl, place the blue bowl above, and let go.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Arrange the glazed bowl with curved sides, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl to stack above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the curved bowl light blue shade.",
+    "Place the glazed bowl with curved sides down and stack the glazed bowl with curved sides on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the ceramic bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with brown outer rim on top.",
+    "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.",
+    "Set the blue bowl with slightly rounded base down, then add the rounded bowl with light blue color over it.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the blue bowl on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down, then set the blue bowl on top of the curved bowl light blue shade.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the right arm.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "Align the glazed bowl with curved sides over the bowl with shiny texture, then complete the stack.",
+    "Take the ceramic bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick the bowl with shiny texture, position the ceramic bowl, and place it over the bowl with shiny texture.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with brown outer rim over it.",
+    "Set down the dark inside bowl light blue outside and drop the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Position the blue bowl with slightly rounded base carefully on the glazed bowl with curved sides.",
+    "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode25.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode25.json
new file mode 100644
index 0000000000000000000000000000000000000000..51076911c503c4ca50e8bbc1e355f3d23736419e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode25.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the dark inside bowl light blue outside and stack the bowl with brown outer rim securely onto it.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the left arm.",
+    "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with shiny texture on.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with brown outer rim, then stack the glazed bowl with curved sides on it.",
+    "Arrange the rounded bowl with light blue color, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl, and set the blue bowl on the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Set the bowl with shiny texture over the small bowl with brown edge to create the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.",
+    "Grab the blue bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade above it.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with brown outer rim over it.",
+    "Pick up the bowl with brown outer rim and set the blue bowl on it.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.",
+    "Put the blue bowl with slightly rounded base first, then bring the glazed bowl with curved sides to stack above.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Hold the blue bowl and stack the bowl with shiny texture neatly atop.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl, and stack them.",
+    "Pick up the ceramic bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Position the curved bowl light blue shade carefully on the blue bowl with slightly rounded base.",
+    "Align the small bowl with brown edge over the bowl with brown outer rim, then complete the stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl on top.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl on top.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Use the arm to place the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Stack the glazed bowl with curved sides securely on top of the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.",
+    "Pick up the medium-sized bowl for holding food and set the medium-sized bowl for holding food on it.",
+    "Take the blue bowl with slightly rounded base, place the rounded bowl with light blue color above, and let go.",
+    "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Set the ceramic bowl down, then add the rounded bowl with light blue color over it.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl, and stack them.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with brown outer rim on top.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Grab the blue bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Lift the ceramic bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl securely onto it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the medium-sized bowl for holding food using the left arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode250.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode250.json
new file mode 100644
index 0000000000000000000000000000000000000000..c44b65b6a684c605fc659ce27b287f1768cdfb41
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode250.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the medium-sized bowl for holding food, position it, and place the dark inside bowl light blue outside on top.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the blue bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl, and set the blue bowl on the medium-sized bowl for holding food.",
+    "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Take the ceramic bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the ceramic bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the curved bowl light blue shade over it.",
+    "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.",
+    "Set the medium-sized bowl for holding food over the bowl with shiny texture to create the stack.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl, and place the ceramic bowl on the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Align the small bowl with brown edge over the bowl with brown outer rim, then complete the stack.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "With the right arm, lift the bowl with brown outer rim and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the glazed bowl with curved sides.",
+    "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.",
+    "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the blue bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with shiny texture above it.",
+    "Grab the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on top.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl using the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Place the bowl with shiny texture down and stack the rounded bowl with light blue color on top.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with brown outer rim over it.",
+    "Grab the ceramic bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Set the bowl with brown outer rim over the glazed bowl with curved sides to create the stack.",
+    "Use the arm to place the blue bowl, then stack the glazed bowl with curved sides on top.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Align the medium-sized bowl for holding food over the bowl with shiny texture, then complete the stack.",
+    "Hold the dark inside bowl light blue outside steady and slide the small bowl with brown edge on.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Take the blue bowl, place the bowl with brown outer rim above, and let go.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides, position the small bowl with brown edge above it, and stack.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with shiny texture.",
+    "Position the ceramic bowl with earthy brown trim carefully on the glazed bowl with curved sides.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl and set the rounded bowl with light blue color on it.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Take the glazed bowl with curved sides, align the blue bowl, and stack them.",
+    "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode251.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode251.json
new file mode 100644
index 0000000000000000000000000000000000000000..de24a2ab94fa04c8fc6a0efb21d26fbcd8484855
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode251.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Arrange the glazed bowl with curved sides, lift the small bowl with brown edge with the arm, and stack them.",
+    "Hold the blue bowl and stack the blue bowl neatly atop.",
+    "Pick the dark inside bowl light blue outside, position the rounded bowl with light blue color, and place it over the dark inside bowl light blue outside.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "the blue bowl goes at the bottom, the blue bowl rests above.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Take the ceramic bowl, place it, and stack the small bowl with brown edge on top.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the rounded bowl with light blue color, align the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the bowl with brown outer rim down and stack the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Use the arm to place the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Position the dark inside bowl light blue outside carefully on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top.",
+    "Pick the small bowl with brown edge, then stack the curved bowl light blue shade on it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Pick up the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the small bowl with brown edge.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Use the left arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Align the curved bowl light blue shade over the curved bowl light blue shade, then complete the stack.",
+    "Position the bowl with brown outer rim with the arm, then set the curved bowl light blue shade above it.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Position the glazed bowl with curved sides, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Set the dark inside bowl light blue outside down, then add the rounded bowl with light blue color over it.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set the medium-sized bowl for holding food over the medium-sized bowl for holding food to create the stack.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl over it.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Put the blue bowl with slightly rounded base first, then bring the small bowl with brown edge to stack above.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food on top of the rounded bowl with light blue color.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with brown outer rim on top.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the dark inside bowl light blue outside, position the bowl with shiny texture above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the ceramic bowl, align the rounded bowl with light blue color, and stack them.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the right arm.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "Stack the ceramic bowl securely on top of the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge and stack the small bowl with brown edge securely onto it.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl on top.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color above it.",
+    "Grab the glazed bowl with curved sides, then carefully place the rounded bowl with light blue color on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the blue bowl with the right arm.",
+    "Align the blue bowl over the small bowl with brown edge, then complete the stack.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Position the medium-sized bowl for holding food, lift the small bowl with brown edge, and place the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl over it.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode252.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode252.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd515ecf59903d64d241c8eb5c47511ddfe3078f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode252.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the left arm.",
+    "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides and set the dark inside bowl light blue outside on it.",
+    "Pick the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on it.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Position the curved bowl light blue shade carefully on the blue bowl.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.",
+    "Set the glazed bowl with curved sides down, then add the bowl with shiny texture over it.",
+    "Lift the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Arrange the glazed bowl with curved sides, lift the blue bowl with the arm, and stack them.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Lift the bowl with brown outer rim, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with brown outer rim, align the ceramic bowl, and stack them.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Set the bowl with brown outer rim over the blue bowl with slightly rounded base to create the stack.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Take the bowl with shiny texture, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick the dark inside bowl light blue outside, position the bowl with shiny texture, and place it over the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside on top of the ceramic bowl with earthy brown trim.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Put the bowl with brown outer rim first, then bring the glazed bowl with curved sides to stack above.",
+    "With the left arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the left arm.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the ceramic bowl and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with shiny texture, and stack them.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides and set the medium-sized bowl for holding food on it.",
+    "Pick the ceramic bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Take the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Position the rounded bowl with light blue color with the arm, then set the medium-sized bowl for holding food above it.",
+    "Set down the small bowl with brown edge and drop the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the bowl with shiny texture steady and slide the rounded bowl with light blue color on.",
+    "Lift the dark inside bowl light blue outside, position the bowl with shiny texture above it, and stack.",
+    "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.",
+    "Pick up the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Take the curved bowl light blue shade, align the ceramic bowl with earthy brown trim, and stack them.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Lift the blue bowl, then stack it on the small bowl with brown edge.",
+    "Take the small bowl with brown edge, position it, then stack the small bowl with brown edge directly above.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim, and place it over the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode253.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode253.json
new file mode 100644
index 0000000000000000000000000000000000000000..212c845e45973a8aa90fc9fb5abff555eed758a6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode253.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium-sized bowl for holding food, align the ceramic bowl with earthy brown trim, and stack them.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with brown outer rim on.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Set the dark inside bowl light blue outside over the bowl with shiny texture to create the stack.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.",
+    "Use the arm to place the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with shiny texture and set the bowl with brown outer rim on it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Position the bowl with brown outer rim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, position the glazed bowl with curved sides above it, and stack.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl over it.",
+    "Pick up the ceramic bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl on top.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food above it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl.",
+    "Stack the blue bowl securely on top of the bowl with shiny texture.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Stack the ceramic bowl carefully over the small bowl with brown edge.",
+    "Pick up the bowl with brown outer rim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Put the curved bowl light blue shade first, then bring the small bowl with brown edge to stack above.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl.",
+    "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.",
+    "Align the blue bowl over the small bowl with brown edge, then complete the stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the bowl with shiny texture using the left arm.",
+    "Position the ceramic bowl carefully on the ceramic bowl.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Hold the blue bowl with slightly rounded base steady and slide the small bowl with brown edge on.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick the bowl with brown outer rim, position the small bowl with brown edge, and place it over the bowl with brown outer rim.",
+    "Set the ceramic bowl over the blue bowl to create the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the curved bowl light blue shade on top of the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the blue bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set down the blue bowl and drop the rounded bowl with light blue color on top.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Pick up the blue bowl using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Put the ceramic bowl first, then bring the ceramic bowl to stack above.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Place the rounded bowl with light blue color down and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl, then stack it on the rounded bowl with light blue color.",
+    "Set the bowl with shiny texture down, then add the blue bowl with slightly rounded base over it.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with shiny texture on top.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, grab the bowl with shiny texture, and set the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Position the dark inside bowl light blue outside and stack the rounded bowl with light blue color securely onto it.",
+    "the ceramic bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Take the bowl with brown outer rim, align the small bowl with brown edge, and stack them.",
+    "With the right arm, lift the ceramic bowl and stack the small bowl with brown edge using the left arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode254.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode254.json
new file mode 100644
index 0000000000000000000000000000000000000000..058535a03550869467eb62dadab408d527d06c7f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode254.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Position the rounded bowl with light blue color, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Use the arm to place the small bowl with brown edge, then stack the dark inside bowl light blue outside on top.",
+    "Place the dark inside bowl light blue outside down and stack the curved bowl light blue shade on top.",
+    "Set down the dark inside bowl light blue outside and drop the glazed bowl with curved sides on top.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with shiny texture, then complete the stack.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Position the ceramic bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Set the bowl with shiny texture down, then add the bowl with brown outer rim over it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the medium-sized bowl for holding food, position it, and place the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, position the dark inside bowl light blue outside above it, and stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl, and place it over the curved bowl light blue shade.",
+    "Align the bowl with shiny texture and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Arrange the bowl with shiny texture, lift the small bowl with brown edge with the arm, and stack them.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Lift the blue bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "With the left arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge above it.",
+    "Grab the bowl with shiny texture, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "Position the small bowl with brown edge carefully on the bowl with brown outer rim.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl with earthy brown trim on.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Pick up the glazed bowl with curved sides and set the medium-sized bowl for holding food on it.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Place the rounded bowl with light blue color down and stack the rounded bowl with light blue color on top.",
+    "Set down the small bowl with brown edge and drop the dark inside bowl light blue outside on top.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Take the blue bowl with slightly rounded base, align the blue bowl, and stack them.",
+    "Take the dark inside bowl light blue outside, place the dark inside bowl light blue outside above, and let go.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "the ceramic bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Take the curved bowl light blue shade, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Stack the curved bowl light blue shade carefully over the dark inside bowl light blue outside.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with shiny texture over it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grab the curved bowl light blue shade, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick the curved bowl light blue shade, position the medium-sized bowl for holding food, and place it over the curved bowl light blue shade.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Set the bowl with shiny texture over the small bowl with brown edge to create the stack.",
+    "Lift the blue bowl, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the blue bowl with the left arm.",
+    "Lift the blue bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade above it.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Lift the small bowl with brown edge, then stack it on the dark inside bowl light blue outside.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Hold the small bowl with brown edge steady and slide the bowl with brown outer rim on.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl with earthy brown trim on it."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode255.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode255.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3794e3045252b4c869bee292847786058758d9d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode255.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bowl for holding food, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "Pick the curved bowl light blue shade, position the blue bowl with slightly rounded base, and place it over the curved bowl light blue shade.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.",
+    "Lift the bowl with shiny texture, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with shiny texture.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl using the left arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with brown outer rim.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "With the right arm, lift the small bowl with brown edge and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl on it.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Grab the ceramic bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl on top.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.",
+    "Set the small bowl with brown edge over the small bowl with brown edge to create the stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with brown outer rim over it.",
+    "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Position the rounded bowl with light blue color and stack the bowl with shiny texture securely onto it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Take the medium-sized bowl for holding food, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the small bowl with brown edge, then stack it on the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.",
+    "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Place the rounded bowl with light blue color on the surface, then stack the bowl with brown outer rim above it.",
+    "Take the bowl with shiny texture, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.",
+    "Place the blue bowl down and stack the glazed bowl with curved sides on top.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color, position the rounded bowl with light blue color above it, and stack.",
+    "Pick up the blue bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the rounded bowl with light blue color, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Hold the curved bowl light blue shade steady and slide the ceramic bowl with earthy brown trim on.",
+    "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the bowl with shiny texture using the left arm.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the small bowl with brown edge rests above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the curved bowl light blue shade carefully on the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, align the glazed bowl with curved sides, and stack them.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on it.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with shiny texture on top.",
+    "Pick up the blue bowl, place it down, then position the blue bowl on top.",
+    "Grab the blue bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl securely onto it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color above it.",
+    "Take the bowl with brown outer rim, place the rounded bowl with light blue color above, and let go.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the glazed bowl with curved sides on top.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the glazed bowl with curved sides on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Place the blue bowl down and stack the dark inside bowl light blue outside on top.",
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.",
+    "Set the bowl with shiny texture down, then add the glazed bowl with curved sides over it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode256.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode256.json
new file mode 100644
index 0000000000000000000000000000000000000000..a60e152cc046470d5b15c28d86ef431726ddec27
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode256.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the medium-sized bowl for holding food down, then add the small bowl with brown edge over it.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the glazed bowl with curved sides, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food on top of the glazed bowl with curved sides.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with brown outer rim.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl above it.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with shiny texture rests above.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Take the rounded bowl with light blue color, place the blue bowl above, and let go.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "Position the bowl with brown outer rim carefully on the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Put the bowl with brown outer rim first, then bring the small bowl with brown edge to stack above.",
+    "Lift the small bowl with brown edge and position it neatly over the small bowl with brown edge.",
+    "Use the arm to place the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grab the curved bowl light blue shade, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick the dark inside bowl light blue outside, position the blue bowl with slightly rounded base, and place it over the dark inside bowl light blue outside.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Arrange the blue bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the blue bowl, set it down, then place the small bowl with brown edge over it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Stack the rounded bowl with light blue color carefully over the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl on top.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl, and stack the ceramic bowl on the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim above it.",
+    "the curved bowl light blue shade goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Align the small bowl with brown edge and the blue bowl, then stack the blue bowl on the small bowl with brown edge.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Pick up the blue bowl with slightly rounded base and set the dark inside bowl light blue outside on it.",
+    "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with shiny texture on.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl, then stack it on the dark inside bowl light blue outside.",
+    "Place the dark inside bowl light blue outside down and stack the glazed bowl with curved sides on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl, and stack them.",
+    "Pick the bowl with shiny texture, position the dark inside bowl light blue outside, and place it over the bowl with shiny texture.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Align the dark inside bowl light blue outside over the small bowl with brown edge, then complete the stack.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode257.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode257.json
new file mode 100644
index 0000000000000000000000000000000000000000..1671688783a9cd51b3ce2a38d463505b1b10bc1e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode257.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the dark inside bowl light blue outside and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the curved bowl light blue shade, position it, and place the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, then carefully place the curved bowl light blue shade on top.",
+    "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the ceramic bowl and set the curved bowl light blue shade on it.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl above it.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Pick up the bowl with shiny texture, place it down, then position the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl with earthy brown trim over it.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl to stack above.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the bowl with brown outer rim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl, and stack the ceramic bowl on the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl.",
+    "Grab the blue bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "Place the ceramic bowl down and stack the bowl with shiny texture on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Lift the glazed bowl with curved sides and position it neatly over the glazed bowl with curved sides.",
+    "Grab the bowl with brown outer rim, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the blue bowl with slightly rounded base carefully on the glazed bowl with curved sides.",
+    "Pick the curved bowl light blue shade, then stack the glazed bowl with curved sides on it.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl above it.",
+    "Align the bowl with brown outer rim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl on top.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "the dark inside bowl light blue outside goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl on it.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it.",
+    "Position the small bowl with brown edge and stack the small bowl with brown edge securely onto it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl above it.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl on top.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the small bowl with brown edge, lay it down, and stack the small bowl with brown edge on top.",
+    "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with brown outer rim.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the blue bowl using the right arm.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the bowl with brown outer rim using the right arm.",
+    "Arrange the small bowl with brown edge, lift the blue bowl with the arm, and stack them.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Set down the ceramic bowl and drop the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Grab the blue bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Set the medium-sized bowl for holding food over the curved bowl light blue shade to create the stack.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with shiny texture, and stack them.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the glazed bowl with curved sides above it.",
+    "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode258.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode258.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe9a3a90d8ee72c20aa855e1e7f455fc9f0873c0
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode258.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the curved bowl light blue shade, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim above it.",
+    "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl with slightly rounded base above it.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "Take the curved bowl light blue shade, place the glazed bowl with curved sides above, and let go.",
+    "Put the bowl with brown outer rim first, then bring the small bowl with brown edge to stack above.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl, and stack the ceramic bowl on the curved bowl light blue shade.",
+    "Place the blue bowl down and stack the rounded bowl with light blue color on top.",
+    "Place the glazed bowl with curved sides down, then set the bowl with brown outer rim on top of the glazed bowl with curved sides.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Take the small bowl with brown edge, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the ceramic bowl, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Align the small bowl with brown edge and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the left arm.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick the medium-sized bowl for holding food, position the rounded bowl with light blue color, and place it over the medium-sized bowl for holding food.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Hold the rounded bowl with light blue color and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the rounded bowl with light blue color over it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the ceramic bowl, then carefully place the blue bowl on top.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Take the bowl with shiny texture, place it, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Lift the blue bowl, then stack it on the bowl with shiny texture.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the small bowl with brown edge down, then set the blue bowl above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Take the blue bowl, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the bowl with shiny texture, position the ceramic bowl above it, and stack.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl, and stack the ceramic bowl on the small bowl with brown edge.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl on top.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with shiny texture.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl with earthy brown trim.",
+    "Align the blue bowl with slightly rounded base over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.",
+    "Stack the medium-sized bowl for holding food securely on top of the medium-sized bowl for holding food.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "With the right arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Set the curved bowl light blue shade down, then add the bowl with shiny texture over it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color neatly atop.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Position the glazed bowl with curved sides, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Set down the glazed bowl with curved sides and drop the rounded bowl with light blue color on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl and set the blue bowl on it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the medium-sized bowl for holding food on.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Lift the rounded bowl with light blue color, then stack it on the rounded bowl with light blue color.",
+    "Set the blue bowl over the bowl with brown outer rim to create the stack.",
+    "Arrange the small bowl with brown edge, lift the bowl with shiny texture with the arm, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture above it."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode259.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode259.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e988aa5ed0c30b1a51eb2d33b5234723181e017
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode259.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Lift the blue bowl, then stack it on the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the small bowl with brown edge and set the glazed bowl with curved sides on it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with brown outer rim on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Take the blue bowl with slightly rounded base, align the medium-sized bowl for holding food, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.",
+    "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Align the bowl with shiny texture and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the glazed bowl with curved sides down, then set the glazed bowl with curved sides on top of the glazed bowl with curved sides.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl using the right arm.",
+    "Position the bowl with shiny texture with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with shiny texture.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the ceramic bowl securely on top of the small bowl with brown edge.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl using the right arm.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl with earthy brown trim and stack the small bowl with brown edge securely onto it.",
+    "Grab the bowl with shiny texture, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Lift the bowl with shiny texture and position it neatly over the small bowl with brown edge.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Lift the ceramic bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with brown outer rim directly above.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the right arm.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "Take the bowl with shiny texture, place the bowl with shiny texture above, and let go.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the small bowl with brown edge on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, position the bowl with shiny texture above it, and stack.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl on.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Pick the dark inside bowl light blue outside, position the glazed bowl with curved sides, and place it over the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Set the curved bowl light blue shade over the ceramic bowl to create the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the small bowl with brown edge.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl using the right arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with shiny texture above it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the small bowl with brown edge and stack the rounded bowl with light blue color using the right arm.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl to stack above.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the small bowl with brown edge above it.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with brown outer rim over it.",
+    "Position the small bowl with brown edge and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the blue bowl and position it neatly over the blue bowl.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Lift the blue bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl.",
+    "the rounded bowl with light blue color goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the rounded bowl with light blue color, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode26.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode26.json
new file mode 100644
index 0000000000000000000000000000000000000000..871fda0029dd48ffa7174681d0ea87d68037f51c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode26.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the ceramic bowl down, then add the curved bowl light blue shade over it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl, and place it over the bowl with brown outer rim.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Align the blue bowl and the blue bowl, then stack the blue bowl on the blue bowl.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it.",
+    "Position the bowl with shiny texture, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the ceramic bowl, then stack the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl on it.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Set the blue bowl over the bowl with shiny texture to create the stack.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the dark inside bowl light blue outside on top.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.",
+    "Pick the bowl with shiny texture, position on the table, and place the small bowl with brown edge over it.",
+    "Align the bowl with shiny texture over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick up the ceramic bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Pick the curved bowl light blue shade, then stack the small bowl with brown edge on it.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the dark inside bowl light blue outside on.",
+    "Use the right arm for the ceramic bowl, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the dark inside bowl light blue outside, grab the ceramic bowl, and set the ceramic bowl on the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl on top.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside on top of the ceramic bowl.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Place the curved bowl light blue shade down and stack the dark inside bowl light blue outside on top.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade above it.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Align the bowl with shiny texture and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Stack the blue bowl with slightly rounded base carefully over the rounded bowl with light blue color.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl directly above.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the glazed bowl with curved sides, lift the blue bowl, and place the blue bowl on the glazed bowl with curved sides.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl to stack above.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl.",
+    "Use the arm to place the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Position the ceramic bowl carefully on the bowl with shiny texture.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Set the medium-sized bowl for holding food over the small bowl with brown edge to create the stack.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the small bowl with brown edge above.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Align the bowl with brown outer rim over the blue bowl, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Pick the curved bowl light blue shade, then stack the dark inside bowl light blue outside on it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the ceramic bowl steady and slide the bowl with brown outer rim on.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the curved bowl light blue shade, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Set the bowl with brown outer rim down, then add the rounded bowl with light blue color over it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode260.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode260.json
new file mode 100644
index 0000000000000000000000000000000000000000..41295e84d1b0e1e196000c4b58b5240f4e6113c8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode260.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Place the curved bowl light blue shade down, then set the blue bowl with slightly rounded base on top of the curved bowl light blue shade.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Set the bowl with brown outer rim over the medium-sized bowl for holding food to create the stack.",
+    "the small bowl with brown edge goes at the bottom, the bowl with brown outer rim rests above.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the bowl with shiny texture, grab the blue bowl, and stack the blue bowl on the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with the arm, and stack them.",
+    "Align the glazed bowl with curved sides and the bowl with shiny texture, then stack the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position the rounded bowl with light blue color, and place it over the bowl with brown outer rim.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim above it.",
+    "Position the rounded bowl with light blue color and stack the curved bowl light blue shade securely onto it.",
+    "Lift the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Pick the rounded bowl with light blue color, then stack the small bowl with brown edge on it.",
+    "Place the bowl with brown outer rim down and stack the small bowl with brown edge on top.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl on it.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, place the blue bowl above, and let go.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the small bowl with brown edge and position it neatly over the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with earthy brown trim carefully on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the rounded bowl with light blue color above it.",
+    "Take the bowl with shiny texture, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl, and place the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the ceramic bowl down, then add the glazed bowl with curved sides over it.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl, and stack them.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Set the bowl with shiny texture over the ceramic bowl to create the stack.",
+    "the blue bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Hold the curved bowl light blue shade and stack the bowl with shiny texture neatly atop.",
+    "Pick up the small bowl with brown edge, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Grab the small bowl with brown edge, position it, and place the curved bowl light blue shade on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the blue bowl, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the blue bowl with slightly rounded base using the right arm.",
+    "Arrange the bowl with brown outer rim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Align the medium-sized bowl for holding food and the blue bowl, then stack the blue bowl on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.",
+    "Position the rounded bowl with light blue color and stack the bowl with brown outer rim securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Place the rounded bowl with light blue color down and stack the dark inside bowl light blue outside on top.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Pick up the ceramic bowl and set the small bowl with brown edge on it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Take the small bowl with brown edge, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode261.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode261.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cd0562c7a3ba79b171c2b9eea878830ce861aaa
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode261.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Hold the rounded bowl with light blue color steady and slide the rounded bowl with light blue color on.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the bowl with shiny texture using the left arm.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl on it.",
+    "Put the small bowl with brown edge first, then bring the small bowl with brown edge to stack above.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the bowl with brown outer rim and stack the ceramic bowl securely onto it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with shiny texture above.",
+    "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Position the ceramic bowl carefully on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture on top of the blue bowl with slightly rounded base.",
+    "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.",
+    "Lift the bowl with brown outer rim and position it neatly over the curved bowl light blue shade.",
+    "Align the blue bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl on top.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl.",
+    "Stack the ceramic bowl securely on top of the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Arrange the bowl with brown outer rim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the small bowl with brown edge, position the bowl with brown outer rim above it, and stack.",
+    "Take the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Set the bowl with shiny texture down, then add the blue bowl with slightly rounded base over it.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Pick the rounded bowl with light blue color, position the ceramic bowl, and place it over the rounded bowl with light blue color.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick up the bowl with shiny texture and set the bowl with shiny texture on it.",
+    "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the bowl with shiny texture, then stack the bowl with shiny texture on top.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Lift the blue bowl, put it on the table, and stack the blue bowl above.",
+    "Align the dark inside bowl light blue outside and the curved bowl light blue shade, then stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl, and stack them.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade above it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, then stack it on the rounded bowl with light blue color.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Position the small bowl with brown edge, lift the bowl with shiny texture, and place the bowl with shiny texture on the small bowl with brown edge.",
+    "Take the rounded bowl with light blue color, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the medium-sized bowl for holding food.",
+    "Align the curved bowl light blue shade over the curved bowl light blue shade, then complete the stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl above it.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Use the arm to place the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with shiny texture on top.",
+    "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "the glazed bowl with curved sides goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place the small bowl with brown edge above, and let go.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode262.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode262.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1da5c758db5893320603e2de8ad9b2dd02d6945
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode262.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the small bowl with brown edge, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick the blue bowl with slightly rounded base, then stack the ceramic bowl on it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Align the blue bowl with slightly rounded base and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, align the dark inside bowl light blue outside, and stack them.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Grab the glazed bowl with curved sides, then carefully place the small bowl with brown edge on top.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.",
+    "With the right arm, lift the ceramic bowl and stack the ceramic bowl using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Use the right arm for the blue bowl, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Stack the ceramic bowl carefully over the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, position it, then stack the rounded bowl with light blue color directly above.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the blue bowl over the ceramic bowl, then complete the stack.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Set down the bowl with brown outer rim and drop the glazed bowl with curved sides on top.",
+    "Pick up the curved bowl light blue shade and set the small bowl with brown edge on it.",
+    "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the small bowl with brown edge over it.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Hold the ceramic bowl steady and slide the medium-sized bowl for holding food on.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl to create the stack.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim above it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Set the blue bowl with slightly rounded base down, then add the ceramic bowl over it.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Position the glazed bowl with curved sides with the arm, then set the small bowl with brown edge above it.",
+    "Grab the glazed bowl with curved sides, then carefully place the ceramic bowl on top.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the small bowl with brown edge.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the curved bowl light blue shade using the left arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl with slightly rounded base.",
+    "Position the glazed bowl with curved sides, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Pick up the blue bowl using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Take the blue bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl to stack above.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Hold the ceramic bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Set down the bowl with shiny texture and drop the rounded bowl with light blue color on top.",
+    "Pick up the bowl with shiny texture and set the glazed bowl with curved sides on it.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Take the ceramic bowl with earthy brown trim, place the rounded bowl with light blue color above, and let go.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl with slightly rounded base on.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim above it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl securely onto it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl over it.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick the small bowl with brown edge, then stack the rounded bowl with light blue color on it."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode263.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode263.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2c21edb111f2d34d71acbb392c158961b6f8209
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode263.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top.",
+    "Hold the curved bowl light blue shade and stack the blue bowl neatly atop.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Stack the ceramic bowl carefully over the bowl with brown outer rim.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Align the ceramic bowl with earthy brown trim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl on top.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "With the left arm, lift the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Align the blue bowl with slightly rounded base over the curved bowl light blue shade, then complete the stack.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Arrange the blue bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base on top of the small bowl with brown edge.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with shiny texture.",
+    "Pick the ceramic bowl, position the ceramic bowl, and place it over the ceramic bowl.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the blue bowl, position the bowl with shiny texture above it, and stack.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the ceramic bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside above it.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Hold the ceramic bowl steady and slide the bowl with shiny texture on.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with brown outer rim on top.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl on it.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Position the bowl with shiny texture with the arm, then set the small bowl with brown edge above it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Position the bowl with brown outer rim, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with brown outer rim.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Take the blue bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with brown outer rim on top.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the bowl with shiny texture and set the small bowl with brown edge on it.",
+    "Stack the dark inside bowl light blue outside carefully over the ceramic bowl with earthy brown trim.",
+    "Position the dark inside bowl light blue outside and stack the small bowl with brown edge securely onto it.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl on top.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the left arm.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Stack the ceramic bowl securely on top of the blue bowl with slightly rounded base.",
+    "Pick the medium-sized bowl for holding food, position the curved bowl light blue shade, and place it over the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl above it.",
+    "Lift the small bowl with brown edge, position the rounded bowl with light blue color above it, and stack.",
+    "Set the bowl with shiny texture over the curved bowl light blue shade to create the stack.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down, then set the blue bowl above it.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the curved bowl light blue shade, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.",
+    "Place the blue bowl down and stack the blue bowl on top.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl on it.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with shiny texture above it.",
+    "Pick up the ceramic bowl using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Hold the bowl with shiny texture and stack the rounded bowl with light blue color neatly atop."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode264.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode264.json
new file mode 100644
index 0000000000000000000000000000000000000000..a621c6d2cbbcfb8716121e5e5c3e39d4e5e7405e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode264.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Position the ceramic bowl carefully on the ceramic bowl.",
+    "Hold the ceramic bowl and stack the ceramic bowl neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.",
+    "Pick the curved bowl light blue shade, position the rounded bowl with light blue color, and place it over the curved bowl light blue shade.",
+    "Pick up the blue bowl and set the blue bowl on it.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl on.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the blue bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the rounded bowl with light blue color, place the dark inside bowl light blue outside above, and let go.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl.",
+    "Pick the medium-sized bowl for holding food, then stack the curved bowl light blue shade on it.",
+    "Position the curved bowl light blue shade, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides with the arm, then set the ceramic bowl above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the small bowl with brown edge on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl above.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the medium-sized bowl for holding food down and stack the glazed bowl with curved sides on top.",
+    "Grab the small bowl with brown edge, lift it up, position the small bowl with brown edge, and stack them.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl on top of the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick up the bowl with brown outer rim, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Set the blue bowl with slightly rounded base down, then add the dark inside bowl light blue outside over it.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "Take the glazed bowl with curved sides, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the left arm.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, then stack it on the small bowl with brown edge.",
+    "Take the blue bowl, place it, and stack the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Put the small bowl with brown edge first, then bring the bowl with shiny texture to stack above.",
+    "Lift the blue bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Arrange the blue bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl over it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Take the bowl with brown outer rim, place the ceramic bowl above, and let go.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the ceramic bowl using the left arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on it.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside with the arm, then set the bowl with shiny texture above it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl rests above.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick up the rounded bowl with light blue color, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Align the dark inside bowl light blue outside and the blue bowl, then stack the blue bowl on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl, then stack the blue bowl on top."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode265.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode265.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b43024c6fce2d5064532a5b09343001256f7405
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode265.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the blue bowl first, then bring the blue bowl to stack above.",
+    "Take the curved bowl light blue shade, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Set the bowl with brown outer rim down, then add the rounded bowl with light blue color over it.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the glazed bowl with curved sides, position the blue bowl above it, and stack.",
+    "Grab the curved bowl light blue shade, then carefully place the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Hold the ceramic bowl and stack the bowl with brown outer rim neatly atop.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Align the bowl with brown outer rim and the ceramic bowl, then stack the ceramic bowl on the bowl with brown outer rim.",
+    "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.",
+    "Take the ceramic bowl, place the curved bowl light blue shade above, and let go.",
+    "Grab the bowl with shiny texture, set it down, then place the curved bowl light blue shade over it.",
+    "Lift the bowl with brown outer rim, grab the small bowl with brown edge, and set the small bowl with brown edge on the bowl with brown outer rim.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl with slightly rounded base on top.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl with slightly rounded base on.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the blue bowl, lift the ceramic bowl, and place the ceramic bowl on the blue bowl.",
+    "Stack the blue bowl with slightly rounded base securely on top of the glazed bowl with curved sides.",
+    "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the glazed bowl with curved sides with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.",
+    "Take the bowl with shiny texture, align the blue bowl, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Arrange the bowl with brown outer rim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Grab the blue bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl with slightly rounded base on top.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with brown outer rim on top.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl over it.",
+    "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture and stack the blue bowl with slightly rounded base securely onto it.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Lift the bowl with brown outer rim, then stack it on the dark inside bowl light blue outside.",
+    "Position the rounded bowl with light blue color, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Stack the blue bowl securely on top of the glazed bowl with curved sides.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge on top of the small bowl with brown edge.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "the ceramic bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim and position it neatly over the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, align the blue bowl, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Grab the blue bowl, position it, and place the bowl with shiny texture on top.",
+    "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with the arm, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Put the bowl with brown outer rim first, then bring the glazed bowl with curved sides to stack above.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode266.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode266.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ed60ceb6e58ddf73a16b7469069f4ee7dd06080
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode266.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the small bowl with brown edge on top.",
+    "Hold the glazed bowl with curved sides and stack the bowl with shiny texture neatly atop.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.",
+    "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.",
+    "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Pick the blue bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Position the rounded bowl with light blue color and stack the medium-sized bowl for holding food securely onto it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down, then set the medium-sized bowl for holding food on top of the medium-sized bowl for holding food.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Arrange the small bowl with brown edge, lift the blue bowl with the arm, and stack them.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim on top.",
+    "Set the rounded bowl with light blue color over the curved bowl light blue shade to create the stack.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Align the blue bowl with slightly rounded base over the dark inside bowl light blue outside, then complete the stack.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with brown outer rim on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Grab the blue bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl on top.",
+    "Pick the blue bowl, then stack the curved bowl light blue shade on it.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Set the blue bowl down, then add the rounded bowl with light blue color over it.",
+    "Position the blue bowl with slightly rounded base carefully on the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the curved bowl light blue shade using the right arm.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the curved bowl light blue shade.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with brown outer rim.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Hold the medium-sized bowl for holding food and stack the small bowl with brown edge neatly atop.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl on top.",
+    "Set down the rounded bowl with light blue color and drop the medium-sized bowl for holding food on top.",
+    "Take the bowl with brown outer rim, align the ceramic bowl, and stack them.",
+    "Pick up the bowl with brown outer rim and set the bowl with brown outer rim on it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Position the blue bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Place the ceramic bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Hold the curved bowl light blue shade steady and slide the curved bowl light blue shade on.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture on top of the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.",
+    "Align the rounded bowl with light blue color over the bowl with shiny texture, then complete the stack.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with brown outer rim on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Lift the curved bowl light blue shade, position the blue bowl with slightly rounded base above it, and stack.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Place the glazed bowl with curved sides down and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the small bowl with brown edge.",
+    "Set the ceramic bowl down, then add the blue bowl over it.",
+    "Position the blue bowl with slightly rounded base carefully on the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the small bowl with brown edge.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place the glazed bowl with curved sides above, and let go."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode267.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode267.json
new file mode 100644
index 0000000000000000000000000000000000000000..57b112066317c868aaec2c0f6613032a8b36c1fb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode267.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bowl with brown outer rim, then stack the small bowl with brown edge on it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with the left arm.",
+    "Hold the ceramic bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture with the arm, then set the curved bowl light blue shade above it.",
+    "Position the ceramic bowl carefully on the bowl with shiny texture.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Take the ceramic bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim on top of the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the bowl with brown outer rim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl with slightly rounded base.",
+    "Arrange the small bowl with brown edge, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Take the small bowl with brown edge, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl above it.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.",
+    "Align the ceramic bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl.",
+    "Align the blue bowl over the bowl with shiny texture, then complete the stack.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Place the glazed bowl with curved sides on the surface, then stack the rounded bowl with light blue color above it.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the left arm.",
+    "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Set the blue bowl over the rounded bowl with light blue color to create the stack.",
+    "Take the curved bowl light blue shade, align the small bowl with brown edge, and stack them.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Grab the curved bowl light blue shade, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick the ceramic bowl, position the glazed bowl with curved sides, and place it over the ceramic bowl.",
+    "Pick the rounded bowl with light blue color, then stack the small bowl with brown edge on it.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Grab the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Position the bowl with brown outer rim with the arm, then set the small bowl with brown edge above it.",
+    "Position the small bowl with brown edge carefully on the dark inside bowl light blue outside.",
+    "Set the small bowl with brown edge down, then add the curved bowl light blue shade over it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the small bowl with brown edge directly above.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Pick the curved bowl light blue shade, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Stack the blue bowl securely on top of the glazed bowl with curved sides.",
+    "Arrange the blue bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, then carefully place the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the glazed bowl with curved sides and set the ceramic bowl with earthy brown trim on it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Hold the rounded bowl with light blue color and stack the bowl with shiny texture neatly atop.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the left arm.",
+    "Pick up the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Take the bowl with shiny texture, align the blue bowl, and stack them.",
+    "Set down the curved bowl light blue shade and drop the blue bowl with slightly rounded base on top.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl securely onto it.",
+    "Lift the bowl with shiny texture, position the small bowl with brown edge above it, and stack.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with shiny texture to stack above.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Pick the ceramic bowl, then stack the blue bowl on it.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with brown outer rim with the left arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode268.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode268.json
new file mode 100644
index 0000000000000000000000000000000000000000..88dd919006ecf2f0878a0935f0fdec5c975ce729
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode268.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the small bowl with brown edge.",
+    "Set the bowl with shiny texture over the blue bowl to create the stack.",
+    "Pick the small bowl with brown edge, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Position the glazed bowl with curved sides with the arm, then set the curved bowl light blue shade above it.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl on it.",
+    "Lift the bowl with brown outer rim, then stack it on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Stack the glazed bowl with curved sides securely on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with shiny texture.",
+    "Set down the glazed bowl with curved sides and drop the blue bowl on top.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick the curved bowl light blue shade, position on the table, and place the curved bowl light blue shade over it.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them.",
+    "Align the ceramic bowl over the ceramic bowl, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food, grab the bowl with shiny texture, and stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Hold the curved bowl light blue shade and stack the bowl with shiny texture neatly atop.",
+    "Hold the blue bowl steady and slide the small bowl with brown edge on.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the bowl with brown outer rim, position it, and place the ceramic bowl on top.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "With the right arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "the bowl with shiny texture goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the glazed bowl with curved sides, position the blue bowl above it, and stack.",
+    "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with brown outer rim.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Set the blue bowl over the medium-sized bowl for holding food to create the stack.",
+    "Pick the bowl with shiny texture, then stack the bowl with brown outer rim on it.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Arrange the rounded bowl with light blue color, lift the small bowl with brown edge with the arm, and stack them.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color securely on top of the glazed bowl with curved sides.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Set down the ceramic bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture above it.",
+    "Take the glazed bowl with curved sides, align the blue bowl with slightly rounded base, and stack them.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Hold the glazed bowl with curved sides and stack the bowl with shiny texture neatly atop.",
+    "Hold the small bowl with brown edge steady and slide the dark inside bowl light blue outside on.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the ceramic bowl on top.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture on top of the rounded bowl with light blue color.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Position the glazed bowl with curved sides and stack the glazed bowl with curved sides securely onto it.",
+    "Align the bowl with brown outer rim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the left arm.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Put the ceramic bowl first, then bring the ceramic bowl to stack above."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode269.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode269.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cda4aeba82f5011bddb1c1bf89b85f7fe8c9f46
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode269.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with brown outer rim neatly atop.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick up the bowl with shiny texture, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with shiny texture, then stack the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides above it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl above it.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Align the bowl with shiny texture over the curved bowl light blue shade, then complete the stack.",
+    "Put the small bowl with brown edge first, then bring the small bowl with brown edge to stack above.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Set the small bowl with brown edge down, then add the bowl with shiny texture over it.",
+    "the bowl with brown outer rim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, place it down, then position the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the left arm.",
+    "Place the medium-sized bowl for holding food down and stack the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with shiny texture.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Position the blue bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Set the rounded bowl with light blue color over the blue bowl to create the stack.",
+    "Hold the small bowl with brown edge steady and slide the glazed bowl with curved sides on.",
+    "Take the blue bowl, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Position the ceramic bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them.",
+    "Hold the glazed bowl with curved sides and stack the dark inside bowl light blue outside neatly atop.",
+    "Arrange the blue bowl, lift the blue bowl with the arm, and stack them.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl, and stack them.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Stack the curved bowl light blue shade securely on top of the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Pick up the bowl with brown outer rim and set the small bowl with brown edge on it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the left arm.",
+    "Pick the small bowl with brown edge, position the curved bowl light blue shade, and place it over the small bowl with brown edge.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl on top of the ceramic bowl with earthy brown trim.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Align the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside, then complete the stack.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl to stack above.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Set down the glazed bowl with curved sides and drop the dark inside bowl light blue outside on top.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with brown outer rim.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl using the left arm.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl with slightly rounded base.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the blue bowl with slightly rounded base, then stack the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Position the bowl with shiny texture, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Take the bowl with shiny texture, place it, and stack the small bowl with brown edge on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, align the dark inside bowl light blue outside, and stack them."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode27.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode27.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d3657b62ab406f31b1db61d060168e4659e61b
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode27.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the blue bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position the medium-sized bowl for holding food, and place it over the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on top.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Stack the medium-sized bowl for holding food securely on top of the curved bowl light blue shade.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl above it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the curved bowl light blue shade and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Put the bowl with brown outer rim first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on it.",
+    "Grab the bowl with brown outer rim, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, position the glazed bowl with curved sides above it, and stack.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim on top of the medium-sized bowl for holding food.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the right arm.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the bowl with shiny texture on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Hold the medium-sized bowl for holding food steady and slide the glazed bowl with curved sides on.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Grab the blue bowl with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Align the dark inside bowl light blue outside over the glazed bowl with curved sides, then complete the stack.",
+    "With the left arm, lift the curved bowl light blue shade and stack the small bowl with brown edge using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the blue bowl, and set the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the bowl with brown outer rim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the bowl with shiny texture and position it neatly over the glazed bowl with curved sides.",
+    "Hold the small bowl with brown edge and stack the blue bowl with slightly rounded base neatly atop.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl.",
+    "Pick the blue bowl, position the bowl with shiny texture, and place it over the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Position the blue bowl with the arm, then set the small bowl with brown edge above it.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick up the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Position the small bowl with brown edge, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl on top of the dark inside bowl light blue outside.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Take the small bowl with brown edge, place it, and stack the small bowl with brown edge on top.",
+    "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.",
+    "Set the rounded bowl with light blue color over the rounded bowl with light blue color to create the stack.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down, then set the blue bowl above it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Set down the dark inside bowl light blue outside and drop the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Align the small bowl with brown edge over the glazed bowl with curved sides, then complete the stack.",
+    "With the left arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode270.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode270.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5dab48aaabce8f51e07c6284e02e35f5d82cfd
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode270.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the curved bowl light blue shade to stack above.",
+    "Set the rounded bowl with light blue color down, then add the small bowl with brown edge over it.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with brown outer rim on top.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.",
+    "Take the curved bowl light blue shade, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set the glazed bowl with curved sides over the small bowl with brown edge to create the stack.",
+    "Pick up the blue bowl and set the rounded bowl with light blue color on it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Grab the bowl with brown outer rim, then carefully place the dark inside bowl light blue outside on top.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Pick the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside, and place it over the ceramic bowl with earthy brown trim.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Use the arm to place the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the ceramic bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with shiny texture on it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the rounded bowl with light blue color on top.",
+    "With the left arm, lift the ceramic bowl and stack the ceramic bowl using the right arm.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Place the rounded bowl with light blue color on the surface, then stack the small bowl with brown edge above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the blue bowl with the right arm.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the small bowl with brown edge.",
+    "Set down the ceramic bowl with earthy brown trim and drop the rounded bowl with light blue color on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with shiny texture rests above.",
+    "Position the ceramic bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl.",
+    "Lift the blue bowl, position the bowl with brown outer rim above it, and stack.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Position the bowl with shiny texture carefully on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Set the curved bowl light blue shade down, then add the glazed bowl with curved sides over it.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Grab the small bowl with brown edge, set it down, then place the curved bowl light blue shade over it.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with shiny texture on.",
+    "Align the blue bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl.",
+    "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the small bowl with brown edge.",
+    "Position the rounded bowl with light blue color and stack the blue bowl with slightly rounded base securely onto it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl on top.",
+    "Position the curved bowl light blue shade with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.",
+    "Place the curved bowl light blue shade down, then set the dark inside bowl light blue outside above it.",
+    "Arrange the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the rounded bowl with light blue color and stack the curved bowl light blue shade neatly atop.",
+    "Take the rounded bowl with light blue color, align the glazed bowl with curved sides, and stack them.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color on top of the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.",
+    "With the left arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the blue bowl above it.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the blue bowl using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the curved bowl light blue shade.",
+    "Set down the bowl with brown outer rim and drop the blue bowl on top.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the ceramic bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl with slightly rounded base.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode271.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode271.json
new file mode 100644
index 0000000000000000000000000000000000000000..3223b05c839ca811c66d13f7c9b6a0ceb01bb81f
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode271.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Position the small bowl with brown edge carefully on the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Place the bowl with shiny texture down and stack the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, position the glazed bowl with curved sides above it, and stack.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with brown outer rim on it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl using the left arm.",
+    "Pick the small bowl with brown edge, position the bowl with shiny texture, and place it over the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the glazed bowl with curved sides.",
+    "Grab the medium-sized bowl for holding food, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the blue bowl with the left arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the rounded bowl with light blue color over the rounded bowl with light blue color, then complete the stack.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim neatly atop.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Position the bowl with brown outer rim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on top.",
+    "Set the small bowl with brown edge over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food on top of the blue bowl with slightly rounded base.",
+    "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food above it.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.",
+    "Place the small bowl with brown edge on the surface, then stack the small bowl with brown edge above it.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with brown outer rim above.",
+    "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, position the blue bowl with slightly rounded base above it, and stack.",
+    "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the blue bowl, then stack the blue bowl on it.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "With the right arm, lift the blue bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the blue bowl, position the dark inside bowl light blue outside, and place it over the blue bowl.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl over it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Hold the blue bowl steady and slide the dark inside bowl light blue outside on.",
+    "Take the bowl with shiny texture, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Take the curved bowl light blue shade, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Align the ceramic bowl over the small bowl with brown edge, then complete the stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the ceramic bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl.",
+    "Put the dark inside bowl light blue outside first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Stack the medium-sized bowl for holding food carefully over the small bowl with brown edge.",
+    "Stack the dark inside bowl light blue outside securely on top of the small bowl with brown edge.",
+    "Position the glazed bowl with curved sides with the arm, then set the medium-sized bowl for holding food above it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food on top of the small bowl with brown edge.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.",
+    "Arrange the bowl with brown outer rim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Position the rounded bowl with light blue color, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl with earthy brown trim."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode272.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode272.json
new file mode 100644
index 0000000000000000000000000000000000000000..509bd1b8e341e0dae2ab9c9e45c56d504e6ca954
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode272.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl using the right arm.",
+    "Lift the curved bowl light blue shade, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Pick the glazed bowl with curved sides, position the rounded bowl with light blue color, and place it over the glazed bowl with curved sides.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the curved bowl light blue shade.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Align the blue bowl with slightly rounded base over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick up the ceramic bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl with earthy brown trim on.",
+    "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grab the small bowl with brown edge, position it, and place the glazed bowl with curved sides on top.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Place the ceramic bowl down, then set the ceramic bowl above it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl, and stack them.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base securely onto it.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides on top of the blue bowl.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with shiny texture.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Place the ceramic bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Hold the blue bowl and stack the bowl with shiny texture neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the curved bowl light blue shade directly above.",
+    "With the right arm, lift the blue bowl and stack the curved bowl light blue shade using the right arm.",
+    "Lift the glazed bowl with curved sides, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl over it.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Arrange the bowl with brown outer rim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Lift the blue bowl, then stack it on the blue bowl.",
+    "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.",
+    "Pick up the curved bowl light blue shade and set the glazed bowl with curved sides on it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Grab the medium-sized bowl for holding food, position it, and place the small bowl with brown edge on top.",
+    "Set the blue bowl over the ceramic bowl to create the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base on top of the ceramic bowl with earthy brown trim.",
+    "Take the glazed bowl with curved sides, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Hold the curved bowl light blue shade and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Put the bowl with shiny texture first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Position the blue bowl carefully on the bowl with brown outer rim.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl over it.",
+    "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the right arm.",
+    "Lift the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode273.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode273.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c173483a60c5355771a6bf87751f20c9443ff6e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode273.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl rests above.",
+    "Grab the ceramic bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the glazed bowl with curved sides on.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Arrange the bowl with brown outer rim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Set the ceramic bowl with earthy brown trim down, then add the dark inside bowl light blue outside over it.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Align the blue bowl with slightly rounded base over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with the right arm.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick up the blue bowl with slightly rounded base and set the curved bowl light blue shade on it.",
+    "Stack the ceramic bowl securely on top of the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Use the arm to place the blue bowl, then stack the small bowl with brown edge on top.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl neatly atop.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Position the bowl with shiny texture and stack the blue bowl securely onto it.",
+    "Grab the ceramic bowl, position it, and place the bowl with shiny texture on top.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the medium-sized bowl for holding food, then carefully place the glazed bowl with curved sides on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Place the bowl with shiny texture on the surface, then stack the ceramic bowl above it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with brown outer rim over it.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the blue bowl with slightly rounded base down and stack the small bowl with brown edge on top.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Pick the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the rounded bowl with light blue color.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl above.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade on top of the ceramic bowl.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the small bowl with brown edge, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the dark inside bowl light blue outside carefully on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl directly above.",
+    "Arrange the curved bowl light blue shade, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.",
+    "Set the ceramic bowl down, then add the small bowl with brown edge over it.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Align the blue bowl with slightly rounded base over the bowl with shiny texture, then complete the stack.",
+    "Lift the glazed bowl with curved sides, position the blue bowl above it, and stack.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base carefully over the curved bowl light blue shade.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl on top.",
+    "Pick up the bowl with brown outer rim and set the rounded bowl with light blue color on it.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Set the blue bowl over the rounded bowl with light blue color to create the stack.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl.",
+    "Take the glazed bowl with curved sides, align the blue bowl, and stack them.",
+    "Grab the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with brown outer rim over it.",
+    "Place the blue bowl down, then set the ceramic bowl above it.",
+    "Place the dark inside bowl light blue outside down and stack the small bowl with brown edge on top.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl, and place it over the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Pick up the blue bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl using the right arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl with earthy brown trim on top.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode274.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode274.json
new file mode 100644
index 0000000000000000000000000000000000000000..0adcdfecbb561d23e871b234b306145ce61f7e84
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode274.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set down the blue bowl and drop the small bowl with brown edge on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Align the rounded bowl with light blue color and the bowl with shiny texture, then stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Set the rounded bowl with light blue color over the bowl with brown outer rim to create the stack.",
+    "Hold the blue bowl and stack the bowl with shiny texture neatly atop.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl on.",
+    "the blue bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Arrange the blue bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Grab the bowl with brown outer rim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on it.",
+    "Position the medium-sized bowl for holding food, lift the small bowl with brown edge, and place the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the left arm.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with brown outer rim.",
+    "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Take the bowl with brown outer rim, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides, position the small bowl with brown edge above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Position the bowl with brown outer rim with the arm, then set the bowl with shiny texture above it.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the rounded bowl with light blue color over it.",
+    "Grab the curved bowl light blue shade, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with brown outer rim.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl on top of the dark inside bowl light blue outside.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Put the ceramic bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Lift the ceramic bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Place the dark inside bowl light blue outside down and stack the bowl with shiny texture on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the small bowl with brown edge on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Place the small bowl with brown edge down, then set the blue bowl above it.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "Pick the small bowl with brown edge, then stack the bowl with brown outer rim on it.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Align the blue bowl over the bowl with brown outer rim, then complete the stack.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl using the left arm.",
+    "With the left arm, lift the ceramic bowl and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the small bowl with brown edge and stack the ceramic bowl securely onto it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Take the ceramic bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Take the bowl with shiny texture, align the bowl with shiny texture, and stack them.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the blue bowl using the left arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the curved bowl light blue shade over it.",
+    "Stack the bowl with shiny texture securely on top of the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, position the blue bowl above it, and stack.",
+    "Grab the curved bowl light blue shade, position it, and place the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Lift the blue bowl and position it neatly over the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Set down the ceramic bowl and drop the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode275.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode275.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ad602410fe0c64f3883f0c5f12f0e592b86bb72
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode275.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, position it, and place the bowl with brown outer rim on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Position the rounded bowl with light blue color, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Take the blue bowl, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Hold the glazed bowl with curved sides steady and slide the medium-sized bowl for holding food on.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place the glazed bowl with curved sides above, and let go.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Pick the dark inside bowl light blue outside, position the medium-sized bowl for holding food, and place it over the dark inside bowl light blue outside.",
+    "With the left arm, lift the blue bowl and stack the blue bowl using the right arm.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "the bowl with shiny texture goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.",
+    "Set down the curved bowl light blue shade and drop the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.",
+    "Lift the blue bowl, then stack it on the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl, and stack them.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the small bowl with brown edge, grab the bowl with shiny texture, and set the bowl with shiny texture on the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top.",
+    "Arrange the bowl with brown outer rim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the curved bowl light blue shade carefully on the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl on it.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, align the ceramic bowl, and stack them.",
+    "Stack the medium-sized bowl for holding food carefully over the blue bowl.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl on it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the medium-sized bowl for holding food, position the medium-sized bowl for holding food above it, and stack.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Position the dark inside bowl light blue outside and stack the small bowl with brown edge securely onto it.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with brown outer rim neatly atop.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Align the blue bowl with slightly rounded base and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the medium-sized bowl for holding food, lift the small bowl with brown edge, and place the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Hold the blue bowl steady and slide the bowl with shiny texture on.",
+    "Lift the glazed bowl with curved sides and position it neatly over the bowl with brown outer rim.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the small bowl with brown edge, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Grab the blue bowl, set it down, then place the bowl with shiny texture over it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Grab the ceramic bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with brown outer rim over it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Position the small bowl with brown edge carefully on the rounded bowl with light blue color.",
+    "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl on top.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Stack the curved bowl light blue shade carefully over the dark inside bowl light blue outside.",
+    "Pick up the dark inside bowl light blue outside and set the small bowl with brown edge on it.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the dark inside bowl light blue outside, position the blue bowl with slightly rounded base above it, and stack.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture with the right arm.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Lift the blue bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Set the blue bowl with slightly rounded base over the small bowl with brown edge to create the stack.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode276.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode276.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e972c2ce8d74156e8af6094fdb61ee3709aced5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode276.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the glazed bowl with curved sides carefully on the rounded bowl with light blue color.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Take the small bowl with brown edge, place the bowl with brown outer rim above, and let go.",
+    "Set the bowl with shiny texture down, then add the blue bowl with slightly rounded base over it.",
+    "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the left arm.",
+    "Stack the blue bowl carefully over the curved bowl light blue shade.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Align the rounded bowl with light blue color over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl above it.",
+    "Lift the bowl with brown outer rim and position it neatly over the dark inside bowl light blue outside.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl, position the bowl with brown outer rim above it, and stack.",
+    "Lift the ceramic bowl, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl.",
+    "With the right arm, lift the small bowl with brown edge and stack the medium-sized bowl for holding food using the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Put the glazed bowl with curved sides first, then bring the bowl with brown outer rim to stack above.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Stack the small bowl with brown edge securely on top of the rounded bowl with light blue color.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the small bowl with brown edge on top.",
+    "Pick the dark inside bowl light blue outside, position the dark inside bowl light blue outside, and place it over the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with brown outer rim above it.",
+    "Pick the medium-sized bowl for holding food, then stack the bowl with shiny texture on it.",
+    "Position the blue bowl carefully on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Take the ceramic bowl, align the rounded bowl with light blue color, and stack them.",
+    "Use the right arm for the blue bowl, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Position the rounded bowl with light blue color and stack the glazed bowl with curved sides securely onto it.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Set the medium-sized bowl for holding food over the medium-sized bowl for holding food to create the stack.",
+    "Grab the ceramic bowl, set it down, then place the curved bowl light blue shade over it.",
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the blue bowl with slightly rounded base and set the dark inside bowl light blue outside on it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.",
+    "Lift the blue bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Arrange the glazed bowl with curved sides, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "With the right arm, lift the blue bowl and stack the blue bowl using the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, then stack the dark inside bowl light blue outside on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Put the ceramic bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode277.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode277.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c1d5ad23503a67ede053cd4de68a3e227998ab
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode277.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Set down the ceramic bowl with earthy brown trim and drop the rounded bowl with light blue color on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the glazed bowl with curved sides over it.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl on top.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base above it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Place the bowl with brown outer rim down and stack the blue bowl with slightly rounded base on top.",
+    "Position the blue bowl with slightly rounded base carefully on the rounded bowl with light blue color.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Hold the rounded bowl with light blue color and stack the glazed bowl with curved sides neatly atop.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.",
+    "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color on top of the glazed bowl with curved sides.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on it.",
+    "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Position the small bowl with brown edge, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "With the left arm, lift the blue bowl and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Arrange the small bowl with brown edge, lift the small bowl with brown edge with the arm, and stack them.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Pick up the bowl with brown outer rim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Set the glazed bowl with curved sides down, then add the small bowl with brown edge over it.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with brown outer rim directly above.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Set down the dark inside bowl light blue outside and drop the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the glazed bowl with curved sides on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture down and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl carefully on the bowl with brown outer rim.",
+    "Place the rounded bowl with light blue color on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Stack the curved bowl light blue shade carefully over the bowl with shiny texture.",
+    "Grab the rounded bowl with light blue color, then carefully place the curved bowl light blue shade on top.",
+    "Position the bowl with shiny texture with the arm, then set the glazed bowl with curved sides above it.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl over it.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Position the bowl with brown outer rim and stack the glazed bowl with curved sides securely onto it.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim, and place it over the glazed bowl with curved sides.",
+    "With the left arm, lift the ceramic bowl and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Lift the bowl with brown outer rim, then stack it on the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Arrange the small bowl with brown edge, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Set the curved bowl light blue shade over the small bowl with brown edge to create the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Take the ceramic bowl, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the blue bowl, position the bowl with brown outer rim above it, and stack.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Set down the rounded bowl with light blue color and drop the dark inside bowl light blue outside on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode278.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode278.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2e25d0602b7560677c1cbf54d1059f2360a5c4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode278.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.",
+    "Align the medium-sized bowl for holding food and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the right arm.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Take the curved bowl light blue shade, place the ceramic bowl above, and let go.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl using the right arm.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Pick the rounded bowl with light blue color, position the rounded bowl with light blue color, and place it over the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl on it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Place the medium-sized bowl for holding food down and stack the small bowl with brown edge on top.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the curved bowl light blue shade using the right arm.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Take the curved bowl light blue shade, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.",
+    "Arrange the blue bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl above it, and stack.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with shiny texture over it.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, place it down, then position the small bowl with brown edge on top.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl rests above.",
+    "Set down the ceramic bowl and drop the ceramic bowl on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Stack the curved bowl light blue shade carefully over the rounded bowl with light blue color.",
+    "Put the dark inside bowl light blue outside first, then bring the ceramic bowl to stack above.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with brown outer rim above it.",
+    "Grab the blue bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set the rounded bowl with light blue color over the ceramic bowl to create the stack.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with shiny texture on top.",
+    "Grab the blue bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the ceramic bowl with earthy brown trim carefully on the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Pick up the medium-sized bowl for holding food and set the rounded bowl with light blue color on it.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl neatly atop.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Use the arm to place the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Grab the rounded bowl with light blue color, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Pick the bowl with shiny texture, then stack the small bowl with brown edge on it.",
+    "Grasp the blue bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the ceramic bowl down and stack the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the blue bowl directly above.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, align the bowl with shiny texture, and stack them.",
+    "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Arrange the curved bowl light blue shade, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the ceramic bowl, position the bowl with shiny texture above it, and stack.",
+    "Align the glazed bowl with curved sides over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl over it.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Pick up the blue bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Set down the curved bowl light blue shade and drop the curved bowl light blue shade on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.",
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.",
+    "Put the curved bowl light blue shade first, then bring the medium-sized bowl for holding food to stack above.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl above it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with shiny texture to create the stack.",
+    "Hold the small bowl with brown edge steady and slide the small bowl with brown edge on.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the bowl with shiny texture carefully on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode279.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode279.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e22feb2fb530ef73790e68272e2dacab67f9432
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode279.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the ceramic bowl down, then set the blue bowl above it.",
+    "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.",
+    "Stack the ceramic bowl securely on top of the dark inside bowl light blue outside.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the glazed bowl with curved sides, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Set the blue bowl over the glazed bowl with curved sides to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides on top of the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Align the ceramic bowl over the blue bowl, then complete the stack.",
+    "Put the bowl with shiny texture first, then bring the bowl with shiny texture to stack above.",
+    "Set the glazed bowl with curved sides down, then add the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Pick the dark inside bowl light blue outside, position the blue bowl, and place it over the dark inside bowl light blue outside.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with shiny texture.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Place the glazed bowl with curved sides on the surface, then stack the blue bowl above it.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with brown outer rim over it.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the left arm.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Use the arm to place the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the dark inside bowl light blue outside above it.",
+    "Hold the blue bowl steady and slide the medium-sized bowl for holding food on.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with the arm, and stack them.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the left arm.",
+    "Hold the small bowl with brown edge and stack the glazed bowl with curved sides neatly atop.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the dark inside bowl light blue outside.",
+    "Set down the rounded bowl with light blue color and drop the glazed bowl with curved sides on top.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the rounded bowl with light blue color down, then set the small bowl with brown edge on top of the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color and position it neatly over the curved bowl light blue shade.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Put the ceramic bowl first, then bring the blue bowl to stack above.",
+    "Set the bowl with brown outer rim down, then add the dark inside bowl light blue outside over it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Pick the dark inside bowl light blue outside, position the dark inside bowl light blue outside, and place it over the dark inside bowl light blue outside.",
+    "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Align the blue bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl.",
+    "Lift the ceramic bowl, then stack it on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade, place it down, then position the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl on it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl over it.",
+    "Position the bowl with shiny texture and stack the bowl with brown outer rim securely onto it.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the rounded bowl with light blue color and set the blue bowl with slightly rounded base on it.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl using the left arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl above it.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl on.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the left arm.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl above it.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode28.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode28.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf3661cd7f0f1f67cf55deec69f3da82e2f65a8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode28.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the small bowl with brown edge, lift it up, position the bowl with brown outer rim, and stack them.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the right arm.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Stack the blue bowl carefully over the small bowl with brown edge.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with shiny texture on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the rounded bowl with light blue color, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Align the curved bowl light blue shade and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Take the small bowl with brown edge, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl on top.",
+    "Stack the rounded bowl with light blue color securely on top of the ceramic bowl with earthy brown trim.",
+    "Set the curved bowl light blue shade down, then add the bowl with brown outer rim over it.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl on it.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place the curved bowl light blue shade above, and let go.",
+    "Lift the rounded bowl with light blue color, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the small bowl with brown edge, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it.",
+    "Hold the small bowl with brown edge and stack the bowl with shiny texture neatly atop.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Set down the curved bowl light blue shade and drop the curved bowl light blue shade on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with shiny texture and set the blue bowl on it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim.",
+    "Hold the blue bowl with slightly rounded base steady and slide the small bowl with brown edge on.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Position the curved bowl light blue shade and stack the small bowl with brown edge securely onto it.",
+    "Place the blue bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Pick the medium-sized bowl for holding food, position the curved bowl light blue shade, and place it over the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl using the right arm.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "the rounded bowl with light blue color goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Arrange the bowl with brown outer rim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with brown outer rim over it.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grab the blue bowl with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the small bowl with brown edge, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.",
+    "Align the curved bowl light blue shade over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Position the blue bowl with slightly rounded base carefully on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Use the left arm for the blue bowl, place it, and stack the blue bowl with the right arm.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the medium-sized bowl for holding food.",
+    "Lift the blue bowl using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Position the small bowl with brown edge with the arm, then set the small bowl with brown edge above it.",
+    "Set down the blue bowl and drop the curved bowl light blue shade on top.",
+    "Grab the blue bowl, set it down, then place the blue bowl over it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge and set the blue bowl on it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the bowl with brown outer rim.",
+    "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Hold the ceramic bowl steady and slide the bowl with shiny texture on.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture and stack the rounded bowl with light blue color securely onto it.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl on top.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl, and place it over the blue bowl with slightly rounded base.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the blue bowl and stack the bowl with brown outer rim using the right arm."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode280.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode280.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9cb7b1833dfbfdd1a23cd90abd283ceacaceb54
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode280.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Align the blue bowl with slightly rounded base over the rounded bowl with light blue color, then complete the stack.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture on top of the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade, position it, and place the dark inside bowl light blue outside on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Set the rounded bowl with light blue color over the dark inside bowl light blue outside to create the stack.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Set the small bowl with brown edge down, then add the small bowl with brown edge over it.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the right arm.",
+    "Hold the small bowl with brown edge and stack the blue bowl neatly atop.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color and set the small bowl with brown edge on it.",
+    "Align the blue bowl and the small bowl with brown edge, then stack the small bowl with brown edge on the blue bowl.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with shiny texture over it.",
+    "Position the bowl with shiny texture carefully on the bowl with shiny texture.",
+    "Pick the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on it.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Position the bowl with brown outer rim and stack the bowl with brown outer rim securely onto it.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with brown outer rim on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Position the bowl with brown outer rim with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the ceramic bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge on top.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with shiny texture above it, and stack.",
+    "Place the rounded bowl with light blue color down and stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the curved bowl light blue shade, then stack it on the bowl with brown outer rim.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl with slightly rounded base.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the small bowl with brown edge, and stack them.",
+    "Align the blue bowl over the blue bowl, then complete the stack.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl, and place the blue bowl on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim on top of the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Take the glazed bowl with curved sides, align the dark inside bowl light blue outside, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Pick the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside, and place it over the ceramic bowl with earthy brown trim.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the right arm.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with shiny texture above.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl with slightly rounded base.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Position the bowl with shiny texture carefully on the blue bowl with slightly rounded base.",
+    "Pick the bowl with brown outer rim, then stack the bowl with brown outer rim on it.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl on top.",
+    "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Take the small bowl with brown edge, place the ceramic bowl above, and let go.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Arrange the rounded bowl with light blue color, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Position the dark inside bowl light blue outside with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Lift the ceramic bowl, then stack it on the rounded bowl with light blue color.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Stack the bowl with shiny texture carefully over the small bowl with brown edge.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode281.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode281.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b3ccdaa00de73105ea020f5929d3eecfdb799a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode281.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the curved bowl light blue shade steady and slide the ceramic bowl with earthy brown trim on.",
+    "Stack the small bowl with brown edge carefully over the dark inside bowl light blue outside.",
+    "Align the glazed bowl with curved sides over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "With the right arm, lift the small bowl with brown edge and stack the blue bowl using the right arm.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it.",
+    "Take the medium-sized bowl for holding food, align the bowl with shiny texture, and stack them.",
+    "Position the blue bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Take the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Use the right arm for the blue bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl securely on top of the bowl with brown outer rim.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Put the small bowl with brown edge first, then bring the curved bowl light blue shade to stack above.",
+    "Set down the rounded bowl with light blue color and drop the medium-sized bowl for holding food on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Position the bowl with brown outer rim and stack the blue bowl with slightly rounded base securely onto it.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.",
+    "Lift the glazed bowl with curved sides, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Set the ceramic bowl down, then add the dark inside bowl light blue outside over it.",
+    "Take the bowl with shiny texture, place the blue bowl above, and let go.",
+    "Set the ceramic bowl over the bowl with brown outer rim to create the stack.",
+    "Position the medium-sized bowl for holding food, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with shiny texture on top.",
+    "Pick the blue bowl with slightly rounded base, position the medium-sized bowl for holding food, and place it over the blue bowl with slightly rounded base.",
+    "the bowl with shiny texture goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with brown outer rim over it.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with brown outer rim on.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture above it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with shiny texture.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the rounded bowl with light blue color, then stack the bowl with brown outer rim on it.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the medium-sized bowl for holding food above it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Take the small bowl with brown edge, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the small bowl with brown edge with the right arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Hold the small bowl with brown edge and stack the glazed bowl with curved sides neatly atop.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Put the glazed bowl with curved sides first, then bring the small bowl with brown edge to stack above.",
+    "Set down the curved bowl light blue shade and drop the medium-sized bowl for holding food on top.",
+    "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Align the curved bowl light blue shade and the curved bowl light blue shade, then stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with the right arm.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Place the blue bowl down, then set the bowl with shiny texture on top of the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with brown outer rim on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with brown outer rim.",
+    "Lift the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Set the ceramic bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Take the curved bowl light blue shade, place the ceramic bowl above, and let go.",
+    "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the ceramic bowl, set it down, then place the bowl with brown outer rim over it.",
+    "Hold the curved bowl light blue shade steady and slide the small bowl with brown edge on.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode282.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode282.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe9fdd4b58458aa49f2861abb0f92a47c812aa1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode282.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Stack the ceramic bowl carefully over the rounded bowl with light blue color.",
+    "Set the ceramic bowl down, then add the blue bowl over it.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl rests above.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Place the blue bowl down, then set the bowl with shiny texture above it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the ceramic bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl, grab the blue bowl, and set the blue bowl on the blue bowl.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl using the right arm.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.",
+    "Hold the ceramic bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Hold the rounded bowl with light blue color steady and slide the curved bowl light blue shade on.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the rounded bowl with light blue color on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Pick the bowl with brown outer rim, position on the table, and place the blue bowl over it.",
+    "Set the ceramic bowl over the dark inside bowl light blue outside to create the stack.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge on top of the curved bowl light blue shade.",
+    "Align the bowl with brown outer rim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the rounded bowl with light blue color down and stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with shiny texture on top.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the curved bowl light blue shade using the right arm.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the curved bowl light blue shade, then stack the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the glazed bowl with curved sides above, and let go.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Stack the rounded bowl with light blue color carefully over the dark inside bowl light blue outside.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Position the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the bowl with shiny texture, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the glazed bowl with curved sides, then carefully place the dark inside bowl light blue outside on top.",
+    "Arrange the ceramic bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with shiny texture.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Position the bowl with brown outer rim, lift the ceramic bowl, and place the ceramic bowl on the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the small bowl with brown edge to stack above.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Take the medium-sized bowl for holding food, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim neatly atop.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl with slightly rounded base on.",
+    "Pick the blue bowl, then stack the curved bowl light blue shade on it.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl on it.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the small bowl with brown edge over it.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Place the glazed bowl with curved sides on the surface, then stack the rounded bowl with light blue color above it.",
+    "Place the dark inside bowl light blue outside down and stack the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "With the left arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set down the small bowl with brown edge and drop the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl carefully on the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode283.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode283.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48c5926669a8cdafb7e4cce3a840a09a6b03b90
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode283.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "Stack the blue bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Align the bowl with brown outer rim over the ceramic bowl, then complete the stack.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge down, then set the blue bowl on top of the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Position the blue bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the small bowl with brown edge, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Set the ceramic bowl down, then add the glazed bowl with curved sides over it.",
+    "Align the bowl with brown outer rim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "Take the medium-sized bowl for holding food, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl using the right arm.",
+    "Grab the glazed bowl with curved sides, then carefully place the curved bowl light blue shade on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl above.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base above it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the bowl with brown outer rim on.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl with slightly rounded base.",
+    "Pick up the bowl with shiny texture, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Pick the ceramic bowl, position the bowl with shiny texture, and place it over the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Grab the small bowl with brown edge, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the small bowl with brown edge on top.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl.",
+    "Lift the ceramic bowl, then stack it on the medium-sized bowl for holding food.",
+    "Align the rounded bowl with light blue color over the bowl with shiny texture, then complete the stack.",
+    "Pick up the bowl with shiny texture, place it down, then position the glazed bowl with curved sides on top.",
+    "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides on top of the medium-sized bowl for holding food.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the small bowl with brown edge, lift the bowl with shiny texture, and place the bowl with shiny texture on the small bowl with brown edge.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set the small bowl with brown edge over the ceramic bowl with earthy brown trim to create the stack.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl over it.",
+    "Take the medium-sized bowl for holding food, align the curved bowl light blue shade, and stack them.",
+    "Set the rounded bowl with light blue color down, then add the rounded bowl with light blue color over it.",
+    "Align the glazed bowl with curved sides and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Lift the blue bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Put the glazed bowl with curved sides first, then bring the glazed bowl with curved sides to stack above.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Lift the bowl with shiny texture, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Position the bowl with brown outer rim and stack the curved bowl light blue shade securely onto it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the dark inside bowl light blue outside above it.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Position the glazed bowl with curved sides with the arm, then set the small bowl with brown edge above it.",
+    "Place the rounded bowl with light blue color down and stack the small bowl with brown edge on top.",
+    "Arrange the blue bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the blue bowl on it.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color above it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with the right arm.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Lift the blue bowl and position it neatly over the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the small bowl with brown edge rests above.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with shiny texture, and place it over the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl on top.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with brown outer rim on top.",
+    "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode284.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode284.json
new file mode 100644
index 0000000000000000000000000000000000000000..750c84991e30e6367e95d860098a2f7a456a29b3
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode284.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the ceramic bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the bowl with brown outer rim, position the ceramic bowl with earthy brown trim, and place it over the bowl with brown outer rim.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with brown outer rim on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with shiny texture on it.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Stack the small bowl with brown edge carefully over the blue bowl with slightly rounded base.",
+    "Take the bowl with brown outer rim, place the curved bowl light blue shade above, and let go.",
+    "Align the blue bowl with slightly rounded base over the dark inside bowl light blue outside, then complete the stack.",
+    "Put the blue bowl first, then bring the bowl with shiny texture to stack above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Position the bowl with shiny texture and stack the bowl with brown outer rim securely onto it.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Align the rounded bowl with light blue color and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Use the arm to place the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the medium-sized bowl for holding food on top.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color on top of the medium-sized bowl for holding food.",
+    "Place the small bowl with brown edge down and stack the bowl with shiny texture on top.",
+    "Position the blue bowl carefully on the blue bowl with slightly rounded base.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Lift the dark inside bowl light blue outside, position the small bowl with brown edge above it, and stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set the bowl with shiny texture over the small bowl with brown edge to create the stack.",
+    "Pick up the ceramic bowl, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Set the blue bowl down, then add the bowl with shiny texture over it.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with brown outer rim on it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Set down the dark inside bowl light blue outside and drop the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl with slightly rounded base.",
+    "Take the dark inside bowl light blue outside, place the small bowl with brown edge above, and let go.",
+    "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the blue bowl, place it, and stack the ceramic bowl on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Stack the blue bowl securely on top of the dark inside bowl light blue outside.",
+    "Pick the dark inside bowl light blue outside, then stack the small bowl with brown edge on it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl on top.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Position the rounded bowl with light blue color and stack the glazed bowl with curved sides securely onto it.",
+    "Grab the curved bowl light blue shade, set it down, then place the curved bowl light blue shade over it.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl with slightly rounded base above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl with earthy brown trim on.",
+    "Hold the blue bowl with slightly rounded base and stack the curved bowl light blue shade neatly atop.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode285.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode285.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e1470350b543539e38f7be2071a9aefa43812e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode285.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the bowl with shiny texture first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Position the blue bowl carefully on the bowl with brown outer rim.",
+    "Take the rounded bowl with light blue color, align the bowl with shiny texture, and stack them.",
+    "Grab the bowl with brown outer rim, position it, and place the small bowl with brown edge on top.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the medium-sized bowl for holding food on.",
+    "Place the blue bowl on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the ceramic bowl with the arm, then set the blue bowl above it.",
+    "Pick the bowl with brown outer rim, position the blue bowl, and place it over the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl over it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the ceramic bowl, place the glazed bowl with curved sides above, and let go.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Grab the bowl with brown outer rim, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the left arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade on top of the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Hold the blue bowl and stack the small bowl with brown edge neatly atop.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the small bowl with brown edge on it.",
+    "Set the blue bowl with slightly rounded base over the curved bowl light blue shade to create the stack.",
+    "Position the rounded bowl with light blue color, lift the blue bowl, and place the blue bowl on the rounded bowl with light blue color.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with brown outer rim.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the small bowl with brown edge securely onto it.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl over it.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.",
+    "Lift the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl to stack above.",
+    "Stack the bowl with brown outer rim securely on top of the curved bowl light blue shade.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.",
+    "Grab the small bowl with brown edge, position it, and place the glazed bowl with curved sides on top.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Hold the blue bowl steady and slide the ceramic bowl on.",
+    "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Pick the rounded bowl with light blue color, position the ceramic bowl, and place it over the rounded bowl with light blue color.",
+    "Grab the blue bowl, set it down, then place the bowl with shiny texture over it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Take the blue bowl, place the blue bowl above, and let go.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl, then carefully place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the curved bowl light blue shade.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with the left arm.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside on top of the dark inside bowl light blue outside.",
+    "Pick up the curved bowl light blue shade, grab the small bowl with brown edge, and stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Set down the bowl with shiny texture and drop the small bowl with brown edge on top.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color above it.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.",
+    "Pick the rounded bowl with light blue color, then stack the glazed bowl with curved sides on it.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.",
+    "Align the small bowl with brown edge and the curved bowl light blue shade, then stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Stack the ceramic bowl carefully over the glazed bowl with curved sides.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the small bowl with brown edge on it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "Take the ceramic bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl above.",
+    "Put the bowl with brown outer rim first, then bring the small bowl with brown edge to stack above.",
+    "Stack the bowl with shiny texture securely on top of the medium-sized bowl for holding food."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode286.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode286.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7a6e712cb13f671cfe8ef5065e8b6700717adb5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode286.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Place the blue bowl down and stack the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick the bowl with brown outer rim, then stack the bowl with shiny texture on it.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Set down the small bowl with brown edge and drop the rounded bowl with light blue color on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Grab the ceramic bowl, set it down, then place the bowl with shiny texture over it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.",
+    "Hold the glazed bowl with curved sides and stack the small bowl with brown edge neatly atop.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the blue bowl.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with shiny texture above.",
+    "Take the ceramic bowl, place the curved bowl light blue shade above, and let go.",
+    "Pick up the bowl with brown outer rim and set the blue bowl with slightly rounded base on it.",
+    "With the right arm, lift the small bowl with brown edge and stack the blue bowl using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl directly above.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Hold the rounded bowl with light blue color steady and slide the glazed bowl with curved sides on.",
+    "Align the ceramic bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Stack the bowl with brown outer rim securely on top of the glazed bowl with curved sides.",
+    "Grab the bowl with brown outer rim, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with shiny texture with the arm, and stack them.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, align the bowl with shiny texture, and stack them.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Place the ceramic bowl down, then set the ceramic bowl on top of the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, position the small bowl with brown edge above it, and stack.",
+    "Set the bowl with shiny texture down, then add the bowl with brown outer rim over it.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Pick the bowl with brown outer rim, then stack the dark inside bowl light blue outside on it.",
+    "Pick the dark inside bowl light blue outside, position the medium-sized bowl for holding food, and place it over the dark inside bowl light blue outside.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the rounded bowl with light blue color on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "Hold the small bowl with brown edge and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "With the right arm, lift the ceramic bowl and stack the bowl with shiny texture using the left arm.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color above it.",
+    "Take the rounded bowl with light blue color, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick up the dark inside bowl light blue outside, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl with earthy brown trim on.",
+    "Align the glazed bowl with curved sides over the medium-sized bowl for holding food, then complete the stack.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides, position it, and place the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl to stack above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Arrange the rounded bowl with light blue color, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl above it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Take the blue bowl with slightly rounded base, align the rounded bowl with light blue color, and stack them.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the blue bowl with the left arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the blue bowl on top.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base on top of the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl, then carefully place the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, position the rounded bowl with light blue color above it, and stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode287.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode287.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efdfff56efb30f038c8c968c62d8a6d3ec1a692
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode287.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl above it.",
+    "Arrange the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl with earthy brown trim, and place it over the curved bowl light blue shade.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Grab the ceramic bowl, position it, and place the small bowl with brown edge on top.",
+    "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Position the curved bowl light blue shade, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Position the ceramic bowl carefully on the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, then stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "Grab the blue bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Take the blue bowl, align the blue bowl, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with brown outer rim on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the right arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl rests above.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the curved bowl light blue shade on top of the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the curved bowl light blue shade on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Use the right arm for the ceramic bowl, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Stack the ceramic bowl carefully over the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides, position the bowl with brown outer rim above it, and stack.",
+    "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.",
+    "Align the glazed bowl with curved sides over the ceramic bowl, then complete the stack.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Position the bowl with shiny texture with the arm, then set the small bowl with brown edge above it.",
+    "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the curved bowl light blue shade and position it neatly over the curved bowl light blue shade.",
+    "Pick the ceramic bowl, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with brown outer rim on top.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Position the curved bowl light blue shade carefully on the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.",
+    "Place the small bowl with brown edge down and stack the small bowl with brown edge on top.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with shiny texture to create the stack.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Put the small bowl with brown edge first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the glazed bowl with curved sides, set it down, then place the glazed bowl with curved sides over it.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Take the bowl with shiny texture, align the blue bowl with slightly rounded base, and stack them.",
+    "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the bowl with brown outer rim.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the rounded bowl with light blue color directly above.",
+    "the glazed bowl with curved sides goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the rounded bowl with light blue color on top of the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with shiny texture on top.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Align the curved bowl light blue shade and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Stack the medium-sized bowl for holding food carefully over the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Pick up the curved bowl light blue shade and set the blue bowl with slightly rounded base on it.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Pick the curved bowl light blue shade, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode288.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode288.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4dc7bbf88a99d444a7f72bf89c7b3cc6c4ed77
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode288.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Set the bowl with brown outer rim down, then add the curved bowl light blue shade over it.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base above it.",
+    "Stack the curved bowl light blue shade securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Align the ceramic bowl with earthy brown trim over the rounded bowl with light blue color, then complete the stack.",
+    "Put the bowl with shiny texture first, then bring the dark inside bowl light blue outside to stack above.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with brown outer rim on.",
+    "Take the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the small bowl with brown edge.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, place the bowl with shiny texture above, and let go.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Pick up the bowl with shiny texture, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the glazed bowl with curved sides and set the dark inside bowl light blue outside on it.",
+    "Lift the bowl with shiny texture, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the small bowl with brown edge, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, then stack the bowl with brown outer rim on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the rounded bowl with light blue color carefully on the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge, position it, and place the rounded bowl with light blue color on top.",
+    "Use the left arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "the blue bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base securely onto it.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl on top.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with shiny texture above.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture down, then set the blue bowl on top of the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Arrange the blue bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.",
+    "Hold the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food neatly atop.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the bowl with shiny texture on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl with slightly rounded base over it.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Place the blue bowl down, then set the rounded bowl with light blue color above it.",
+    "Stack the medium-sized bowl for holding food securely on top of the medium-sized bowl for holding food.",
+    "Pick the blue bowl, then stack the ceramic bowl on it.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Put the blue bowl first, then bring the ceramic bowl to stack above.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Hold the blue bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Take the blue bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the bowl with shiny texture, lay it down, and stack the curved bowl light blue shade on top.",
+    "Take the small bowl with brown edge, place the ceramic bowl above, and let go.",
+    "Position the dark inside bowl light blue outside with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick the ceramic bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with brown outer rim on top.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Lift the bowl with shiny texture, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the left arm.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with brown outer rim.",
+    "Grab the bowl with brown outer rim, position it, and place the rounded bowl with light blue color on top.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Take the medium-sized bowl for holding food, align the bowl with shiny texture, and stack them.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl rests above.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Position the glazed bowl with curved sides and stack the curved bowl light blue shade securely onto it.",
+    "Align the blue bowl with slightly rounded base and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with brown outer rim on top.",
+    "Set down the dark inside bowl light blue outside and drop the ceramic bowl on top.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick up the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, then stack it on the rounded bowl with light blue color.",
+    "Grab the curved bowl light blue shade, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Arrange the curved bowl light blue shade, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Set the curved bowl light blue shade over the glazed bowl with curved sides to create the stack."
+  ],
+  "unseen": [
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode289.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode289.json
new file mode 100644
index 0000000000000000000000000000000000000000..248881214e85344fb18c660371849244feba6434
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode289.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the small bowl with brown edge, then stack the glazed bowl with curved sides on it.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl, then complete the stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the curved bowl light blue shade, position the glazed bowl with curved sides above it, and stack.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "With the right arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the right arm.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set the rounded bowl with light blue color down, then add the ceramic bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the curved bowl light blue shade on top.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with the right arm.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with brown outer rim with the arm, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Grab the medium-sized bowl for holding food, position it, and place the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with shiny texture directly above.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the blue bowl, position the ceramic bowl, and place it over the blue bowl.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Set down the ceramic bowl and drop the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Take the ceramic bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Take the rounded bowl with light blue color, place the dark inside bowl light blue outside above, and let go.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Position the glazed bowl with curved sides and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Align the rounded bowl with light blue color and the bowl with brown outer rim, then stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the medium-sized bowl for holding food, position the bowl with shiny texture above it, and stack.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the blue bowl, then stack it on the dark inside bowl light blue outside.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Position the glazed bowl with curved sides, lift the bowl with shiny texture, and place the bowl with shiny texture on the glazed bowl with curved sides.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the blue bowl with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Set the dark inside bowl light blue outside down, then add the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl with earthy brown trim, align the glazed bowl with curved sides, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Use the arm to place the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with shiny texture rests above.",
+    "Hold the bowl with brown outer rim steady and slide the small bowl with brown edge on.",
+    "Grab the blue bowl, position it, and place the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the bowl with brown outer rim and set the medium-sized bowl for holding food on it.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Hold the blue bowl with slightly rounded base and stack the small bowl with brown edge neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food carefully on the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base down and stack the curved bowl light blue shade on top.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Grab the dark inside bowl light blue outside, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Align the glazed bowl with curved sides and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on it.",
+    "Align the bowl with shiny texture over the blue bowl, then complete the stack."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode29.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode29.json
new file mode 100644
index 0000000000000000000000000000000000000000..a07f92c2f668451785f580abf1efbee8d460c5b0
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode29.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the blue bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with brown outer rim.",
+    "Take the small bowl with brown edge, place the bowl with shiny texture above, and let go.",
+    "Pick the blue bowl, position the medium-sized bowl for holding food, and place it over the blue bowl.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "the blue bowl goes at the bottom, the blue bowl rests above.",
+    "Set down the rounded bowl with light blue color and drop the ceramic bowl on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the rounded bowl with light blue color above it.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides on top of the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl with earthy brown trim on it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside above it.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Arrange the medium-sized bowl for holding food, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Grab the blue bowl, position it, and place the blue bowl on top.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.",
+    "Align the blue bowl with slightly rounded base and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Position the small bowl with brown edge and stack the bowl with brown outer rim securely onto it.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl on.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the ceramic bowl using the left arm.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.",
+    "Hold the blue bowl and stack the curved bowl light blue shade neatly atop.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the blue bowl, grab the blue bowl, and set the blue bowl on the blue bowl.",
+    "Take the glazed bowl with curved sides, position it, then stack the small bowl with brown edge directly above.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the glazed bowl with curved sides, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Stack the rounded bowl with light blue color securely on top of the glazed bowl with curved sides.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl, and stack them.",
+    "Lift the blue bowl using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, then carefully place the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the rounded bowl with light blue color, place the blue bowl above, and let go.",
+    "Pick the small bowl with brown edge, position the rounded bowl with light blue color, and place it over the small bowl with brown edge.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "the ceramic bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl with slightly rounded base on it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl above.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl on it.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Align the bowl with brown outer rim over the dark inside bowl light blue outside, then complete the stack.",
+    "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the ceramic bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl.",
+    "Grab the ceramic bowl, position it, and place the dark inside bowl light blue outside on top.",
+    "Set the small bowl with brown edge over the bowl with brown outer rim to create the stack.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Stack the curved bowl light blue shade carefully over the glazed bowl with curved sides.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Align the blue bowl and the blue bowl, then stack the blue bowl on the blue bowl.",
+    "Pick the small bowl with brown edge, position on the table, and place the curved bowl light blue shade over it.",
+    "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Hold the small bowl with brown edge steady and slide the bowl with brown outer rim on.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the blue bowl on top.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Position the ceramic bowl carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, set it down, then place the curved bowl light blue shade over it.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl, and set the ceramic bowl on the curved bowl light blue shade.",
+    "Take the small bowl with brown edge, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl with earthy brown trim."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode290.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode290.json
new file mode 100644
index 0000000000000000000000000000000000000000..a90841c3d27239dd50622d9b0801c08b119c9b66
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode290.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the bowl with shiny texture carefully over the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl on.",
+    "Pick the ceramic bowl with earthy brown trim, position the bowl with brown outer rim, and place it over the ceramic bowl with earthy brown trim.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Set down the blue bowl with slightly rounded base and drop the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with shiny texture, and set the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the small bowl with brown edge using the right arm.",
+    "Position the bowl with shiny texture and stack the blue bowl with slightly rounded base securely onto it.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl on top.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with brown outer rim on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the ceramic bowl using the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick the small bowl with brown edge, then stack the rounded bowl with light blue color on it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl over it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Position the blue bowl carefully on the blue bowl with slightly rounded base.",
+    "Hold the dark inside bowl light blue outside and stack the medium-sized bowl for holding food neatly atop.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place the blue bowl with slightly rounded base above, and let go.",
+    "Align the curved bowl light blue shade over the small bowl with brown edge, then complete the stack.",
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Use the right arm for the ceramic bowl, place it, and stack the blue bowl with the right arm.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Stack the bowl with shiny texture securely on top of the bowl with shiny texture.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Position the ceramic bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Set the bowl with shiny texture over the glazed bowl with curved sides to create the stack.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the blue bowl and position it neatly over the small bowl with brown edge.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Arrange the ceramic bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the small bowl with brown edge, then carefully place the bowl with shiny texture on top.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Pick the rounded bowl with light blue color, position the medium-sized bowl for holding food, and place it over the rounded bowl with light blue color.",
+    "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.",
+    "Set down the bowl with brown outer rim and drop the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "With the right arm, lift the curved bowl light blue shade and stack the rounded bowl with light blue color using the right arm.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "Place the bowl with brown outer rim down and stack the bowl with shiny texture on top.",
+    "Pick up the curved bowl light blue shade, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge on top of the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Pick the small bowl with brown edge, then stack the medium-sized bowl for holding food on it.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Position the bowl with brown outer rim, lift the blue bowl, and place the blue bowl on the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, then stack it on the curved bowl light blue shade.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.",
+    "the rounded bowl with light blue color goes at the bottom, the small bowl with brown edge rests above.",
+    "Use the right arm for the blue bowl, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the bowl with shiny texture directly above.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the bowl with shiny texture and set the glazed bowl with curved sides on it.",
+    "Place the ceramic bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Set the curved bowl light blue shade over the curved bowl light blue shade to create the stack.",
+    "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl on top.",
+    "Grab the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.",
+    "Arrange the glazed bowl with curved sides, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Stack the rounded bowl with light blue color carefully over the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl with slightly rounded base, and stack them."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode291.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode291.json
new file mode 100644
index 0000000000000000000000000000000000000000..c51e084957f96f9d7fc0be7e75ec954ef9e0106d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode291.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the blue bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with brown outer rim.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base above it.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Grab the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Set down the medium-sized bowl for holding food and drop the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the small bowl with brown edge above.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "Set the blue bowl with slightly rounded base over the bowl with brown outer rim to create the stack.",
+    "Take the glazed bowl with curved sides, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the glazed bowl with curved sides and stack the bowl with brown outer rim securely onto it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Arrange the medium-sized bowl for holding food, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with shiny texture on it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "the bowl with shiny texture goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "With the right arm, lift the blue bowl and stack the bowl with shiny texture using the left arm.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Take the blue bowl, align the blue bowl, and stack them.",
+    "Lift the dark inside bowl light blue outside, position the blue bowl above it, and stack.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl, then stack the small bowl with brown edge on it.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Hold the bowl with shiny texture steady and slide the curved bowl light blue shade on.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl down, then set the curved bowl light blue shade above it.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the small bowl with brown edge, then stack the bowl with shiny texture on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl, lift it up, position the blue bowl, and stack them.",
+    "Set down the glazed bowl with curved sides and drop the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the small bowl with brown edge above.",
+    "Hold the bowl with brown outer rim and stack the dark inside bowl light blue outside neatly atop.",
+    "Set the bowl with brown outer rim over the glazed bowl with curved sides to create the stack.",
+    "Take the blue bowl, place the bowl with brown outer rim above, and let go.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Stack the bowl with shiny texture carefully over the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down and stack the small bowl with brown edge on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the left arm.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "the glazed bowl with curved sides goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the rounded bowl with light blue color above it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Set the blue bowl down, then add the blue bowl over it.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl, position the bowl with brown outer rim, and place it over the blue bowl.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the bowl with brown outer rim using the left arm.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides on top of the small bowl with brown edge.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the blue bowl, then stack the dark inside bowl light blue outside on it.",
+    "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Pick up the ceramic bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the medium-sized bowl for holding food."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode292.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode292.json
new file mode 100644
index 0000000000000000000000000000000000000000..741cdb55ebbf3b38bb973721a5162ab11e8fbe91
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode292.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Lift the blue bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Align the curved bowl light blue shade over the small bowl with brown edge, then complete the stack.",
+    "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Hold the blue bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with shiny texture above it.",
+    "Place the dark inside bowl light blue outside down and stack the glazed bowl with curved sides on top.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl on top.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.",
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Place the glazed bowl with curved sides down, then set the rounded bowl with light blue color above it.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with brown outer rim using the right arm.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge with the right arm.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl rests above.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the bowl with brown outer rim over it.",
+    "Position the blue bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim steady and slide the medium-sized bowl for holding food on.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with brown outer rim, and place it over the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Align the bowl with brown outer rim over the curved bowl light blue shade, then complete the stack.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl on it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the glazed bowl with curved sides down, then set the medium-sized bowl for holding food on top of the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the rounded bowl with light blue color, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with brown outer rim on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl on top.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with shiny texture, and stack them.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.",
+    "Grab the bowl with shiny texture, then carefully place the medium-sized bowl for holding food on top.",
+    "Take the small bowl with brown edge, place the small bowl with brown edge above, and let go.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim above it.",
+    "With the left arm, lift the blue bowl and stack the glazed bowl with curved sides using the right arm.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Use the left arm for the blue bowl, place it, and stack the small bowl with brown edge with the right arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Arrange the rounded bowl with light blue color, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, position the glazed bowl with curved sides above it, and stack.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the blue bowl using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the curved bowl light blue shade over it.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl above it.",
+    "Stack the rounded bowl with light blue color securely on top of the blue bowl.",
+    "Pick up the curved bowl light blue shade, place it down, then position the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside carefully on the dark inside bowl light blue outside.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with brown outer rim on.",
+    "Use the arm to place the bowl with brown outer rim, then stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Set down the glazed bowl with curved sides and drop the bowl with brown outer rim on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl.",
+    "Pick the blue bowl with slightly rounded base, position the ceramic bowl, and place it over the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode293.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode293.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd781380956ff8e43f12393a1fec8c992d3e257
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode293.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Take the ceramic bowl, place the blue bowl above, and let go.",
+    "Arrange the bowl with brown outer rim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the blue bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Hold the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Align the blue bowl over the blue bowl, then complete the stack.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with shiny texture to stack above.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the small bowl with brown edge and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl above it.",
+    "Set down the small bowl with brown edge and drop the bowl with shiny texture on top.",
+    "Lift the bowl with brown outer rim, grab the blue bowl, and set the blue bowl on the bowl with brown outer rim.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides on top of the bowl with brown outer rim.",
+    "Set the bowl with shiny texture over the medium-sized bowl for holding food to create the stack.",
+    "Grab the bowl with brown outer rim, set it down, then place the curved bowl light blue shade over it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Position the dark inside bowl light blue outside carefully on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with brown outer rim.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Align the curved bowl light blue shade and the blue bowl, then stack the blue bowl on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with brown outer rim above it, and stack.",
+    "Pick the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on it.",
+    "Pick up the dark inside bowl light blue outside and set the dark inside bowl light blue outside on it.",
+    "Pick up the blue bowl with slightly rounded base, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Take the curved bowl light blue shade, place the dark inside bowl light blue outside above, and let go.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Hold the medium-sized bowl for holding food and stack the curved bowl light blue shade neatly atop.",
+    "Hold the dark inside bowl light blue outside steady and slide the small bowl with brown edge on.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl above it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Align the ceramic bowl with earthy brown trim over the curved bowl light blue shade, then complete the stack.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the right arm.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base securely onto it.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with shiny texture, and place it over the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides on top of the ceramic bowl.",
+    "Set the bowl with brown outer rim over the rounded bowl with light blue color to create the stack.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with brown outer rim over it.",
+    "Position the dark inside bowl light blue outside carefully on the curved bowl light blue shade.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with brown outer rim.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Align the bowl with brown outer rim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Lift the blue bowl, position the curved bowl light blue shade above it, and stack.",
+    "Pick the rounded bowl with light blue color, then stack the glazed bowl with curved sides on it.",
+    "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Take the blue bowl with slightly rounded base, place the medium-sized bowl for holding food above, and let go."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode294.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode294.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7a2a4a95ddc276cc6a038b598a18bb29489017
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode294.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Grab the medium-sized bowl for holding food, then stack the small bowl with brown edge on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Stack the dark inside bowl light blue outside carefully over the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Grab the ceramic bowl, position it, and place the small bowl with brown edge on top.",
+    "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with brown outer rim over it.",
+    "Take the rounded bowl with light blue color, align the dark inside bowl light blue outside, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Lift the ceramic bowl, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "With the left arm, lift the ceramic bowl and stack the ceramic bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides on top of the curved bowl light blue shade.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the ceramic bowl steady and slide the curved bowl light blue shade on.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the right arm.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Take the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl on top.",
+    "Align the bowl with shiny texture and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with shiny texture.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the blue bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Stack the bowl with shiny texture securely on top of the ceramic bowl with earthy brown trim.",
+    "Place the rounded bowl with light blue color on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the bowl with shiny texture, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the ceramic bowl on top.",
+    "Lift the curved bowl light blue shade, position the small bowl with brown edge above it, and stack.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with shiny texture on it.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim above it.",
+    "Grab the dark inside bowl light blue outside, then stack the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Set the blue bowl down, then add the dark inside bowl light blue outside over it.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the rounded bowl with light blue color.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with shiny texture on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the glazed bowl with curved sides over it.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the blue bowl, then stack the blue bowl on top.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the right arm.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl down and stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl with slightly rounded base on.",
+    "Pick the small bowl with brown edge, then stack the bowl with brown outer rim on it.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Take the ceramic bowl, place the glazed bowl with curved sides above, and let go.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl on top.",
+    "Align the bowl with shiny texture and the small bowl with brown edge, then stack the small bowl with brown edge on the bowl with shiny texture.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl directly above.",
+    "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Position the small bowl with brown edge, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Lift the medium-sized bowl for holding food, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the medium-sized bowl for holding food and set the medium-sized bowl for holding food on it.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode295.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode295.json
new file mode 100644
index 0000000000000000000000000000000000000000..95ab095af242fd6f63ce4e690c5b8ecedb7c99ba
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode295.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Take the blue bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl with earthy brown trim, and place it over the curved bowl light blue shade.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Grab the glazed bowl with curved sides, position it, and place the glazed bowl with curved sides on top.",
+    "Grab the bowl with shiny texture, then stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Place the rounded bowl with light blue color down and stack the glazed bowl with curved sides on top.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl on it.",
+    "Pick up the ceramic bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl.",
+    "Put the ceramic bowl first, then bring the medium-sized bowl for holding food to stack above.",
+    "Align the blue bowl over the bowl with shiny texture, then complete the stack.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "Position the dark inside bowl light blue outside carefully on the glazed bowl with curved sides.",
+    "Lift the blue bowl, position the bowl with brown outer rim above it, and stack.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Place the glazed bowl with curved sides down, then set the dark inside bowl light blue outside above it.",
+    "Set the glazed bowl with curved sides down, then add the bowl with shiny texture over it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Set down the small bowl with brown edge and drop the rounded bowl with light blue color on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the curved bowl light blue shade using the left arm.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the blue bowl, place it, and stack the bowl with shiny texture on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the bowl with shiny texture, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the bowl with shiny texture, set it down, then place the small bowl with brown edge over it.",
+    "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.",
+    "the curved bowl light blue shade goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the blue bowl with the left arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the rounded bowl with light blue color, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the small bowl with brown edge.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl above it.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Place the medium-sized bowl for holding food down and stack the medium-sized bowl for holding food on top.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.",
+    "Pick the ceramic bowl, then stack the curved bowl light blue shade on it.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Put the blue bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Align the ceramic bowl over the ceramic bowl, then complete the stack.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Position the small bowl with brown edge carefully on the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set down the bowl with shiny texture and drop the bowl with shiny texture on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the left arm.",
+    "Hold the blue bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Take the bowl with shiny texture, place it, and stack the curved bowl light blue shade on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "Stack the bowl with shiny texture securely on top of the medium-sized bowl for holding food.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Grab the ceramic bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with the arm, and stack them.",
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Grab the bowl with shiny texture, set it down, then place the glazed bowl with curved sides over it.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl with earthy brown trim on it.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Hold the blue bowl with slightly rounded base steady and slide the ceramic bowl with earthy brown trim on.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Align the ceramic bowl with earthy brown trim and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with shiny texture.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode296.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode296.json
new file mode 100644
index 0000000000000000000000000000000000000000..27a3b5381d7785de324a7b88dd5e7dd54cf60bec
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode296.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the curved bowl light blue shade and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl on top of the ceramic bowl with earthy brown trim.",
+    "Grab the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on top.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl on it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with brown outer rim on top.",
+    "Stack the dark inside bowl light blue outside carefully over the dark inside bowl light blue outside.",
+    "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food with the arm, then set the curved bowl light blue shade above it.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the small bowl with brown edge, align the ceramic bowl, and stack them.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the bowl with shiny texture carefully on the glazed bowl with curved sides.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the left arm.",
+    "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.",
+    "Set down the bowl with brown outer rim and drop the bowl with brown outer rim on top.",
+    "Arrange the medium-sized bowl for holding food, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, position the curved bowl light blue shade above it, and stack.",
+    "Grab the bowl with brown outer rim, position it, and place the medium-sized bowl for holding food on top.",
+    "Set the ceramic bowl down, then add the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside above it.",
+    "Put the dark inside bowl light blue outside first, then bring the ceramic bowl to stack above.",
+    "Place the blue bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the blue bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl.",
+    "Hold the ceramic bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Align the dark inside bowl light blue outside over the bowl with brown outer rim, then complete the stack.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the glazed bowl with curved sides on top.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Grab the rounded bowl with light blue color, then carefully place the glazed bowl with curved sides on top.",
+    "Align the glazed bowl with curved sides and the curved bowl light blue shade, then stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Pick the curved bowl light blue shade, position the rounded bowl with light blue color, and place it over the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Take the blue bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Take the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Pick up the bowl with shiny texture, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with the left arm.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the bowl with shiny texture and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the blue bowl with slightly rounded base carefully on the bowl with shiny texture.",
+    "With the right arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Set the blue bowl with slightly rounded base over the curved bowl light blue shade to create the stack.",
+    "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.",
+    "Arrange the bowl with shiny texture, lift the bowl with shiny texture with the arm, and stack them.",
+    "Place the blue bowl with slightly rounded base down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Grab the dark inside bowl light blue outside, position it, and place the blue bowl on top.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim above it.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl above it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with shiny texture on.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the bowl with shiny texture, place the curved bowl light blue shade above, and let go.",
+    "Grab the blue bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the curved bowl light blue shade.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the small bowl with brown edge on top.",
+    "Align the glazed bowl with curved sides and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode297.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode297.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eb1a8eafc69f018145f3ce6baa966f667ca90f1
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode297.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the curved bowl light blue shade and set the blue bowl with slightly rounded base on it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Put the dark inside bowl light blue outside first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim on top of the small bowl with brown edge.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Take the curved bowl light blue shade, align the ceramic bowl, and stack them.",
+    "Place the small bowl with brown edge down, then set the blue bowl above it.",
+    "Take the ceramic bowl, place the ceramic bowl above, and let go.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the glazed bowl with curved sides, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.",
+    "Position the bowl with shiny texture and stack the bowl with brown outer rim securely onto it.",
+    "Hold the bowl with brown outer rim steady and slide the curved bowl light blue shade on.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl using the left arm.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Set the blue bowl over the glazed bowl with curved sides to create the stack.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Take the bowl with brown outer rim, position it, then stack the ceramic bowl directly above.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with shiny texture over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the curved bowl light blue shade, then carefully place the glazed bowl with curved sides on top.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.",
+    "Position the blue bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, then stack the dark inside bowl light blue outside on top.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, position it, and place the small bowl with brown edge on top.",
+    "Pick up the ceramic bowl using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the bowl with shiny texture, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with shiny texture.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Hold the rounded bowl with light blue color and stack the glazed bowl with curved sides neatly atop.",
+    "Stack the bowl with brown outer rim carefully over the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Align the rounded bowl with light blue color over the bowl with shiny texture, then complete the stack.",
+    "Take the bowl with brown outer rim, align the curved bowl light blue shade, and stack them.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Take the dark inside bowl light blue outside, place the glazed bowl with curved sides above, and let go.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "Set down the bowl with shiny texture and drop the bowl with brown outer rim on top.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Hold the curved bowl light blue shade steady and slide the medium-sized bowl for holding food on.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "With the right arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the curved bowl light blue shade above it.",
+    "Take the ceramic bowl, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "the ceramic bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with shiny texture on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the curved bowl light blue shade, then carefully place the dark inside bowl light blue outside on top.",
+    "Align the medium-sized bowl for holding food and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Position the ceramic bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Pick the dark inside bowl light blue outside, position the rounded bowl with light blue color, and place it over the dark inside bowl light blue outside.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Stack the bowl with shiny texture securely on top of the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the bowl with brown outer rim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl with slightly rounded base on it.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode298.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode298.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90a5ed9219a55c3336c0739d6017871a22c5a51
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode298.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the blue bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Stack the ceramic bowl carefully over the bowl with brown outer rim.",
+    "Position the rounded bowl with light blue color and stack the rounded bowl with light blue color securely onto it.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Place the glazed bowl with curved sides down, then set the glazed bowl with curved sides on top of the glazed bowl with curved sides.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with brown outer rim on top.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the blue bowl and position it neatly over the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl over it.",
+    "Set the glazed bowl with curved sides down, then add the curved bowl light blue shade over it.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Set the blue bowl over the dark inside bowl light blue outside to create the stack.",
+    "Position the bowl with shiny texture carefully on the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with brown outer rim.",
+    "Take the bowl with brown outer rim, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.",
+    "Pick up the ceramic bowl and set the curved bowl light blue shade on it.",
+    "Set down the blue bowl and drop the rounded bowl with light blue color on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Align the glazed bowl with curved sides over the curved bowl light blue shade, then complete the stack.",
+    "Hold the curved bowl light blue shade and stack the small bowl with brown edge neatly atop.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with shiny texture.",
+    "Position the ceramic bowl with the arm, then set the blue bowl above it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the rounded bowl with light blue color.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "With the right arm, lift the bowl with shiny texture and stack the curved bowl light blue shade using the left arm.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Lift the bowl with brown outer rim, position the glazed bowl with curved sides above it, and stack.",
+    "Align the blue bowl and the blue bowl, then stack the blue bowl on the blue bowl.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl, and stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Hold the blue bowl steady and slide the blue bowl with slightly rounded base on.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Stack the rounded bowl with light blue color securely on top of the blue bowl with slightly rounded base.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Arrange the blue bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl above it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the small bowl with brown edge.",
+    "Position the curved bowl light blue shade and stack the blue bowl with slightly rounded base securely onto it.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside on top of the small bowl with brown edge.",
+    "Place the blue bowl with slightly rounded base down and stack the curved bowl light blue shade on top.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the bowl with shiny texture, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with shiny texture.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the small bowl with brown edge carefully on the blue bowl.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with brown outer rim on it.",
+    "Set down the bowl with brown outer rim and drop the medium-sized bowl for holding food on top.",
+    "Take the bowl with shiny texture, position it, then stack the glazed bowl with curved sides directly above.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "Hold the ceramic bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the small bowl with brown edge.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the blue bowl.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside using the left arm.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Align the ceramic bowl and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl.",
+    "Pick up the glazed bowl with curved sides, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Hold the glazed bowl with curved sides steady and slide the blue bowl with slightly rounded base on.",
+    "Take the bowl with brown outer rim, align the bowl with brown outer rim, and stack them.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the rounded bowl with light blue color over it."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode299.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode299.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1ef480b1e764ed94369a1d5bd01537fa2df89c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode299.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the small bowl with brown edge, then stack the bowl with brown outer rim on it.",
+    "Pick up the small bowl with brown edge and set the glazed bowl with curved sides on it.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the blue bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Put the ceramic bowl first, then bring the ceramic bowl to stack above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the small bowl with brown edge.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "With the right arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Take the curved bowl light blue shade, place the curved bowl light blue shade above, and let go.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the curved bowl light blue shade using the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl, and place it over the curved bowl light blue shade.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the small bowl with brown edge and stack the bowl with brown outer rim securely onto it.",
+    "Take the bowl with shiny texture, align the bowl with shiny texture, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Take the bowl with shiny texture, place it, and stack the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the blue bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Stack the ceramic bowl securely on top of the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Set the bowl with brown outer rim over the ceramic bowl with earthy brown trim to create the stack.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with shiny texture on top.",
+    "Hold the medium-sized bowl for holding food and stack the glazed bowl with curved sides neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside above it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl on top.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, set it down, then place the small bowl with brown edge over it.",
+    "Put the blue bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Set the ceramic bowl down, then add the rounded bowl with light blue color over it.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the bowl with brown outer rim and stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the ceramic bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Hold the dark inside bowl light blue outside steady and slide the dark inside bowl light blue outside on.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Take the ceramic bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with shiny texture on top.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the small bowl with brown edge above it.",
+    "Align the small bowl with brown edge over the blue bowl, then complete the stack.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Use the arm to place the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl, and stack them.",
+    "Arrange the blue bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Align the medium-sized bowl for holding food and the ceramic bowl, then stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside, position the dark inside bowl light blue outside above it, and stack.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.",
+    "Lift the ceramic bowl, then stack it on the rounded bowl with light blue color.",
+    "Set the blue bowl over the ceramic bowl to create the stack.",
+    "Set down the medium-sized bowl for holding food and drop the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl neatly atop.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl on top.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl on it.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode3.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode3.json
new file mode 100644
index 0000000000000000000000000000000000000000..86baed1f2fa8b4d32f6f05ecaaf9d3c5971797e2
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode3.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the ceramic bowl and stack the glazed bowl with curved sides neatly atop.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Pick the rounded bowl with light blue color, then stack the glazed bowl with curved sides on it.",
+    "Take the medium-sized bowl for holding food, place the glazed bowl with curved sides above, and let go.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Put the curved bowl light blue shade first, then bring the bowl with shiny texture to stack above.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the dark inside bowl light blue outside on top.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Pick the curved bowl light blue shade, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with shiny texture above it.",
+    "Lift the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the blue bowl, position it, and place the curved bowl light blue shade on top.",
+    "Place the ceramic bowl with earthy brown trim down and stack the rounded bowl with light blue color on top.",
+    "Set down the blue bowl and drop the blue bowl on top.",
+    "Lift the bowl with brown outer rim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl, then carefully place the glazed bowl with curved sides on top.",
+    "Hold the small bowl with brown edge steady and slide the bowl with shiny texture on.",
+    "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture above it.",
+    "Lift the blue bowl, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "With the left arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the right arm.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Stack the bowl with shiny texture carefully over the curved bowl light blue shade.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Use the left arm for the blue bowl, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl with slightly rounded base.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food and stack the ceramic bowl securely onto it.",
+    "Set the rounded bowl with light blue color over the medium-sized bowl for holding food to create the stack.",
+    "Pick up the ceramic bowl and set the bowl with shiny texture on it.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Pick the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on it.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with shiny texture above it.",
+    "Put the bowl with shiny texture first, then bring the small bowl with brown edge to stack above.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the curved bowl light blue shade on top.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture and position it neatly over the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Grab the small bowl with brown edge, set it down, then place the dark inside bowl light blue outside over it.",
+    "Position the blue bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Take the small bowl with brown edge, align the medium-sized bowl for holding food, and stack them.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with shiny texture.",
+    "Position the ceramic bowl, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the dark inside bowl light blue outside on top.",
+    "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside above it.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "With the left arm, lift the ceramic bowl and stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the medium-sized bowl for holding food.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl with slightly rounded base.",
+    "Set the ceramic bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Align the bowl with shiny texture and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the bowl with brown outer rim.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the glazed bowl with curved sides using the right arm."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode30.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode30.json
new file mode 100644
index 0000000000000000000000000000000000000000..bab9923c95dc491844d6d1f1b69619aa068ecae4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode30.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside above it.",
+    "Take the bowl with shiny texture, place the bowl with shiny texture above, and let go.",
+    "Arrange the blue bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set the ceramic bowl over the bowl with brown outer rim to create the stack.",
+    "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Place the bowl with shiny texture down and stack the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the rounded bowl with light blue color, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.",
+    "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides on top of the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the ceramic bowl and stack the ceramic bowl using the right arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl.",
+    "Stack the curved bowl light blue shade securely on top of the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the glazed bowl with curved sides and set the ceramic bowl with earthy brown trim on it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Align the rounded bowl with light blue color over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim, and place it over the medium-sized bowl for holding food.",
+    "Set down the ceramic bowl and drop the dark inside bowl light blue outside on top.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Position the ceramic bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Set the medium-sized bowl for holding food down, then add the glazed bowl with curved sides over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the blue bowl.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with shiny texture rests above.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Take the blue bowl, align the bowl with shiny texture, and stack them.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.",
+    "Grab the glazed bowl with curved sides, then carefully place the curved bowl light blue shade on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Take the small bowl with brown edge, place the blue bowl above, and let go.",
+    "Arrange the bowl with shiny texture, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the right arm.",
+    "Set the glazed bowl with curved sides over the glazed bowl with curved sides to create the stack.",
+    "Grab the glazed bowl with curved sides, then stack the ceramic bowl on top.",
+    "Place the glazed bowl with curved sides down and stack the ceramic bowl on top.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl above it.",
+    "Pick up the blue bowl using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the bowl with shiny texture, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "With the left arm, lift the ceramic bowl and stack the rounded bowl with light blue color using the right arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the dark inside bowl light blue outside, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl with slightly rounded base.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Align the glazed bowl with curved sides over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick the rounded bowl with light blue color, position the medium-sized bowl for holding food, and place it over the rounded bowl with light blue color.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the bowl with shiny texture to stack above.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Set the curved bowl light blue shade down, then add the glazed bowl with curved sides over it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Take the ceramic bowl with earthy brown trim, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl over it.",
+    "Position the small bowl with brown edge and stack the blue bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go."
+  ],
+  "unseen": [
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode31.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode31.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a9c918aae895b200a64ae8a0c55b6ebb3a9279
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode31.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the small bowl with brown edge and stack the curved bowl light blue shade securely onto it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "Align the ceramic bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the ceramic bowl over it.",
+    "Set down the ceramic bowl and drop the small bowl with brown edge on top.",
+    "Stack the curved bowl light blue shade securely on top of the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the curved bowl light blue shade, then stack it on the glazed bowl with curved sides.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with the arm, and stack them.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with brown outer rim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "With the right arm, lift the bowl with shiny texture and stack the bowl with shiny texture using the left arm.",
+    "the blue bowl goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top.",
+    "Take the medium-sized bowl for holding food, place the bowl with shiny texture above, and let go.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the ceramic bowl using the left arm.",
+    "Set the ceramic bowl down, then add the medium-sized bowl for holding food over it.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on it.",
+    "Place the blue bowl down, then set the ceramic bowl on top of the blue bowl.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Set the curved bowl light blue shade over the glazed bowl with curved sides to create the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the rounded bowl with light blue color above it.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl and set the curved bowl light blue shade on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Take the ceramic bowl, align the bowl with brown outer rim, and stack them.",
+    "Put the blue bowl first, then bring the blue bowl to stack above.",
+    "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.",
+    "Grab the rounded bowl with light blue color, set it down, then place the small bowl with brown edge over it.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with shiny texture on top.",
+    "Stack the bowl with shiny texture securely on top of the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with the arm, and stack them.",
+    "Position the bowl with brown outer rim carefully on the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture, grab the bowl with shiny texture, and stack the bowl with shiny texture on the bowl with shiny texture.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the dark inside bowl light blue outside using the left arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the curved bowl light blue shade on top.",
+    "Take the bowl with brown outer rim, place the medium-sized bowl for holding food above, and let go.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with shiny texture directly above.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim on top of the bowl with brown outer rim.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Pick the curved bowl light blue shade, position the blue bowl with slightly rounded base, and place it over the curved bowl light blue shade.",
+    "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Hold the blue bowl steady and slide the ceramic bowl on.",
+    "Set the blue bowl over the dark inside bowl light blue outside to create the stack.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl on it.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim above it, and stack."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode32.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode32.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f304c51c34010dfd579b1ab537821ecf56ba1cf
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode32.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bowl with brown outer rim, align the small bowl with brown edge, and stack them.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Align the glazed bowl with curved sides and the bowl with brown outer rim, then stack the bowl with brown outer rim on the glazed bowl with curved sides.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Place the bowl with brown outer rim down, then set the blue bowl above it.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with brown outer rim.",
+    "Align the curved bowl light blue shade over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the bowl with brown outer rim, then stack the medium-sized bowl for holding food on it.",
+    "Set down the bowl with brown outer rim and drop the blue bowl on top.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl over it.",
+    "Pick up the medium-sized bowl for holding food and set the medium-sized bowl for holding food on it.",
+    "Position the blue bowl with slightly rounded base, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl with slightly rounded base.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Place the ceramic bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Take the bowl with shiny texture, place the dark inside bowl light blue outside above, and let go.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, position the glazed bowl with curved sides above it, and stack.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Arrange the glazed bowl with curved sides, lift the ceramic bowl with the arm, and stack them.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the rounded bowl with light blue color.",
+    "Lift the rounded bowl with light blue color and position it neatly over the small bowl with brown edge.",
+    "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Stack the blue bowl securely on top of the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base on top of the bowl with brown outer rim.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl neatly atop.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food above it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the curved bowl light blue shade.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "Pick the small bowl with brown edge, then stack the bowl with brown outer rim on it.",
+    "Set down the blue bowl and drop the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl with slightly rounded base on it.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Position the blue bowl with slightly rounded base carefully on the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside securely onto it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the dark inside bowl light blue outside, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Take the bowl with shiny texture, place the curved bowl light blue shade above, and let go.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Pick up the blue bowl, place it down, then position the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Stack the small bowl with brown edge carefully over the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with brown outer rim on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on top.",
+    "Pick the blue bowl with slightly rounded base, position the bowl with shiny texture, and place it over the blue bowl with slightly rounded base.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with the arm, and stack them.",
+    "Place the blue bowl with slightly rounded base down and stack the dark inside bowl light blue outside on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Set the bowl with shiny texture down, then add the medium-sized bowl for holding food over it.",
+    "Position the blue bowl with the arm, then set the small bowl with brown edge above it.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim and position it neatly over the bowl with brown outer rim.",
+    "Hold the ceramic bowl steady and slide the bowl with brown outer rim on.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Take the curved bowl light blue shade, align the rounded bowl with light blue color, and stack them.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode33.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode33.json
new file mode 100644
index 0000000000000000000000000000000000000000..7062628cec7e5b782ca3189818cc2fc8ff5687ae
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode33.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the dark inside bowl light blue outside and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Grab the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl, set it down, then place the curved bowl light blue shade over it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "the blue bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Align the ceramic bowl over the blue bowl, then complete the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Stack the bowl with shiny texture securely on top of the small bowl with brown edge.",
+    "Pick up the ceramic bowl, place it down, then position the small bowl with brown edge on top.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick the curved bowl light blue shade, position the blue bowl with slightly rounded base, and place it over the curved bowl light blue shade.",
+    "With the right arm, lift the small bowl with brown edge and stack the bowl with shiny texture using the left arm.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Place the ceramic bowl down, then set the blue bowl on top of the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the curved bowl light blue shade on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Set the curved bowl light blue shade over the ceramic bowl to create the stack.",
+    "Position the blue bowl carefully on the blue bowl.",
+    "Pick the blue bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Position the rounded bowl with light blue color with the arm, then set the rounded bowl with light blue color above it.",
+    "Lift the glazed bowl with curved sides, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Take the blue bowl, align the curved bowl light blue shade, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Align the dark inside bowl light blue outside and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with the left arm.",
+    "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "the dark inside bowl light blue outside goes at the bottom, the small bowl with brown edge rests above.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl, then complete the stack.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl on top.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the glazed bowl with curved sides using the left arm.",
+    "Set the dark inside bowl light blue outside down, then add the dark inside bowl light blue outside over it.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl with earthy brown trim on top of the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the glazed bowl with curved sides on.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Set down the curved bowl light blue shade and drop the bowl with shiny texture on top.",
+    "Pick up the bowl with brown outer rim and set the glazed bowl with curved sides on it.",
+    "Position the rounded bowl with light blue color and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Position the blue bowl with slightly rounded base, lift the blue bowl, and place the blue bowl on the blue bowl with slightly rounded base.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Position the blue bowl carefully on the glazed bowl with curved sides.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Hold the dark inside bowl light blue outside and stack the dark inside bowl light blue outside neatly atop.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the glazed bowl with curved sides, position the bowl with brown outer rim above it, and stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Take the medium-sized bowl for holding food, align the blue bowl, and stack them.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Place the bowl with brown outer rim down, then set the rounded bowl with light blue color above it.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode34.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode34.json
new file mode 100644
index 0000000000000000000000000000000000000000..73deba3eedb7e0ee0bc4625172112c366a22c668
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode34.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the small bowl with brown edge down and stack the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the ceramic bowl above.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the small bowl with brown edge, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Align the ceramic bowl with earthy brown trim over the small bowl with brown edge, then complete the stack.",
+    "Set the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, align the bowl with brown outer rim, and stack them.",
+    "Set the medium-sized bowl for holding food down, then add the glazed bowl with curved sides over it.",
+    "Take the blue bowl, place it, and stack the small bowl with brown edge on top.",
+    "Grab the ceramic bowl, then carefully place the bowl with brown outer rim on top.",
+    "Hold the small bowl with brown edge steady and slide the glazed bowl with curved sides on.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl with earthy brown trim.",
+    "Align the curved bowl light blue shade and the blue bowl, then stack the blue bowl on the curved bowl light blue shade.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl, and stack them.",
+    "Pick the blue bowl, position the rounded bowl with light blue color, and place it over the blue bowl.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "With the right arm, lift the blue bowl and stack the bowl with brown outer rim using the left arm.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Stack the small bowl with brown edge carefully over the dark inside bowl light blue outside.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the ceramic bowl using the left arm.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food above it.",
+    "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.",
+    "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick the bowl with brown outer rim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, position it, and place the glazed bowl with curved sides on top.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the small bowl with brown edge with the left arm.",
+    "Position the glazed bowl with curved sides and stack the rounded bowl with light blue color securely onto it.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim on top of the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the curved bowl light blue shade on it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the small bowl with brown edge.",
+    "Place the ceramic bowl with earthy brown trim down and stack the blue bowl on top.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl, place the blue bowl above, and let go.",
+    "Lift the ceramic bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Align the blue bowl with slightly rounded base over the small bowl with brown edge, then complete the stack.",
+    "Set the bowl with brown outer rim over the dark inside bowl light blue outside to create the stack.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the rounded bowl with light blue color on top.",
+    "Take the glazed bowl with curved sides, align the dark inside bowl light blue outside, and stack them.",
+    "Set the ceramic bowl with earthy brown trim down, then add the medium-sized bowl for holding food over it.",
+    "Take the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the rounded bowl with light blue color on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the small bowl with brown edge on.",
+    "Position the blue bowl carefully on the curved bowl light blue shade.",
+    "Align the rounded bowl with light blue color and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the dark inside bowl light blue outside, position the bowl with shiny texture, and place it over the dark inside bowl light blue outside.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the left arm.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with brown outer rim directly above.",
+    "Stack the small bowl with brown edge carefully over the bowl with brown outer rim.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "Grab the small bowl with brown edge, set it down, then place the dark inside bowl light blue outside over it.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade above it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Grab the blue bowl, position it, and place the curved bowl light blue shade on top.",
+    "Use the right arm for the ceramic bowl, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Position the blue bowl and stack the bowl with shiny texture securely onto it.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "the blue bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl on top.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode35.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode35.json
new file mode 100644
index 0000000000000000000000000000000000000000..57477c5836db267ccc463efd3e5bb3f57cc2dba7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode35.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the glazed bowl with curved sides, align the medium-sized bowl for holding food, and stack them.",
+    "Place the ceramic bowl down, then set the curved bowl light blue shade on top of the ceramic bowl.",
+    "Place the curved bowl light blue shade down and stack the small bowl with brown edge on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Set down the glazed bowl with curved sides and drop the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Position the glazed bowl with curved sides, lift the bowl with shiny texture, and place the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside and stack the rounded bowl with light blue color securely onto it.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with shiny texture on top.",
+    "Hold the bowl with shiny texture and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the glazed bowl with curved sides, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the bowl with shiny texture with the arm, then set the rounded bowl with light blue color above it.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl on it.",
+    "Take the bowl with shiny texture, position it, then stack the small bowl with brown edge directly above.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with brown outer rim.",
+    "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Set the blue bowl with slightly rounded base down, then add the curved bowl light blue shade over it.",
+    "Align the bowl with shiny texture over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the medium-sized bowl for holding food.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base above it.",
+    "Position the ceramic bowl with earthy brown trim carefully on the blue bowl.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the rounded bowl with light blue color over it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.",
+    "Stack the small bowl with brown edge securely on top of the bowl with shiny texture.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "the blue bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Align the bowl with brown outer rim and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Lift the ceramic bowl, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on top.",
+    "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.",
+    "Take the bowl with brown outer rim, align the ceramic bowl, and stack them.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl on top of the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim down and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with shiny texture on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Position the blue bowl and stack the bowl with brown outer rim securely onto it.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Set the dark inside bowl light blue outside over the blue bowl to create the stack.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Hold the blue bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the medium-sized bowl for holding food, then stack it on the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the blue bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the curved bowl light blue shade with the arm, then set the dark inside bowl light blue outside above it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Grab the glazed bowl with curved sides, then carefully place the blue bowl with slightly rounded base on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the left arm.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the small bowl with brown edge over it.",
+    "Set the ceramic bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Align the bowl with shiny texture over the rounded bowl with light blue color, then complete the stack.",
+    "Take the small bowl with brown edge, place the blue bowl above, and let go.",
+    "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color above it.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Stack the glazed bowl with curved sides securely on top of the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on it.",
+    "Put the bowl with brown outer rim first, then bring the bowl with brown outer rim to stack above.",
+    "Pick the dark inside bowl light blue outside, position the medium-sized bowl for holding food, and place it over the dark inside bowl light blue outside.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl, then stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Grab the blue bowl, then stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl, position the ceramic bowl above it, and stack.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode36.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode36.json
new file mode 100644
index 0000000000000000000000000000000000000000..83564830fd352fb1c84db4311d82bf6f47f36da8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode36.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the bowl with brown outer rim on it.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the rounded bowl with light blue color, position the bowl with brown outer rim, and place it over the rounded bowl with light blue color.",
+    "With the left arm, lift the bowl with shiny texture and stack the small bowl with brown edge using the right arm.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with shiny texture on top.",
+    "Set the small bowl with brown edge over the glazed bowl with curved sides to create the stack.",
+    "Position the dark inside bowl light blue outside and stack the ceramic bowl securely onto it.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl above it.",
+    "Arrange the blue bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with shiny texture.",
+    "Set down the medium-sized bowl for holding food and drop the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the ceramic bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl over it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the curved bowl light blue shade over it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Put the bowl with brown outer rim first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color and position it neatly over the rounded bowl with light blue color.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl, and stack them.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl directly above.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base neatly atop.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim on top of the ceramic bowl.",
+    "Pick up the bowl with brown outer rim and set the blue bowl with slightly rounded base on it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl, and stack them.",
+    "Pick the glazed bowl with curved sides, then stack the curved bowl light blue shade on it.",
+    "Align the rounded bowl with light blue color over the blue bowl, then complete the stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the bowl with brown outer rim, position the curved bowl light blue shade, and place it over the bowl with brown outer rim.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the bowl with brown outer rim using the right arm.",
+    "Pick up the bowl with brown outer rim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, then carefully place the curved bowl light blue shade on top.",
+    "Set the medium-sized bowl for holding food over the blue bowl to create the stack.",
+    "Position the medium-sized bowl for holding food and stack the rounded bowl with light blue color securely onto it.",
+    "Position the rounded bowl with light blue color, lift the bowl with shiny texture, and place the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Place the blue bowl down and stack the curved bowl light blue shade on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl rests above.",
+    "Grab the blue bowl, then stack the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Position the rounded bowl with light blue color with the arm, then set the rounded bowl with light blue color above it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with shiny texture on top.",
+    "Place the ceramic bowl down, then set the blue bowl above it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the bowl with shiny texture on top.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with brown outer rim over it.",
+    "Set the rounded bowl with light blue color down, then add the glazed bowl with curved sides over it.",
+    "Grab the small bowl with brown edge, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with brown outer rim on.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl and position it neatly over the blue bowl.",
+    "Take the blue bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Take the glazed bowl with curved sides, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on top.",
+    "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl above it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color neatly atop.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Pick up the curved bowl light blue shade and set the small bowl with brown edge on it.",
+    "Lift the rounded bowl with light blue color, then stack it on the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode37.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode37.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddab35d212b2b2ecca90239dfd8b42048d8fe48e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode37.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Align the curved bowl light blue shade and the blue bowl, then stack the blue bowl on the curved bowl light blue shade.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.",
+    "Lift the curved bowl light blue shade, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade on top of the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, position it, and place the curved bowl light blue shade on top.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the left arm.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Set the curved bowl light blue shade over the ceramic bowl to create the stack.",
+    "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl over it.",
+    "Stack the medium-sized bowl for holding food carefully over the blue bowl with slightly rounded base.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge, then stack it on the medium-sized bowl for holding food.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with shiny texture rests above.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the small bowl with brown edge.",
+    "Take the bowl with shiny texture, place it, and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Lift the ceramic bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the bowl with brown outer rim on top.",
+    "Pick up the bowl with brown outer rim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Pick the small bowl with brown edge, then stack the bowl with brown outer rim on it.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Hold the small bowl with brown edge and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grab the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, position the ceramic bowl above it, and stack.",
+    "Position the bowl with brown outer rim with the arm, then set the rounded bowl with light blue color above it.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with shiny texture to stack above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Align the glazed bowl with curved sides and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Take the medium-sized bowl for holding food, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl.",
+    "Hold the medium-sized bowl for holding food steady and slide the rounded bowl with light blue color on.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl above it.",
+    "Take the rounded bowl with light blue color, place the bowl with brown outer rim above, and let go.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the left arm for the medium-sized bowl for holding food, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Take the medium-sized bowl for holding food, align the blue bowl, and stack them.",
+    "Set the ceramic bowl over the curved bowl light blue shade to create the stack.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick up the curved bowl light blue shade and set the rounded bowl with light blue color on it.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Stack the blue bowl carefully over the blue bowl with slightly rounded base.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the medium-sized bowl for holding food.",
+    "the ceramic bowl goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl on top.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Set the blue bowl down, then add the bowl with shiny texture over it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Align the dark inside bowl light blue outside over the curved bowl light blue shade, then complete the stack.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl, and stack the blue bowl on the rounded bowl with light blue color.",
+    "Pick the glazed bowl with curved sides, position the glazed bowl with curved sides, and place it over the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the bowl with shiny texture, then stack the blue bowl on it.",
+    "Place the glazed bowl with curved sides down and stack the bowl with shiny texture on top.",
+    "Position the rounded bowl with light blue color carefully on the curved bowl light blue shade.",
+    "Hold the rounded bowl with light blue color and stack the curved bowl light blue shade neatly atop.",
+    "Grab the medium-sized bowl for holding food, then carefully place the medium-sized bowl for holding food on top.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, position the bowl with brown outer rim above it, and stack.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl to stack above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl above.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode38.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode38.json
new file mode 100644
index 0000000000000000000000000000000000000000..c79feb7187c56564db93257957f193e5aa49175d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode38.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl with slightly rounded base, place it, and stack the rounded bowl with light blue color on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the ceramic bowl using the left arm.",
+    "Lift the bowl with shiny texture, position the blue bowl above it, and stack.",
+    "With the left arm, lift the small bowl with brown edge and stack the medium-sized bowl for holding food using the left arm.",
+    "Align the glazed bowl with curved sides over the bowl with shiny texture, then complete the stack.",
+    "Align the curved bowl light blue shade and the ceramic bowl, then stack the ceramic bowl on the curved bowl light blue shade.",
+    "Pick the medium-sized bowl for holding food, position the medium-sized bowl for holding food, and place it over the medium-sized bowl for holding food.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim on top of the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl with slightly rounded base on.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with shiny texture on it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with shiny texture, and stack them.",
+    "Stack the medium-sized bowl for holding food securely on top of the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Position the ceramic bowl and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Place the curved bowl light blue shade down and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the bowl with shiny texture, align the small bowl with brown edge, and stack them.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Set down the glazed bowl with curved sides and drop the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, set it down, then place the ceramic bowl over it.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Pick the curved bowl light blue shade, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the bowl with brown outer rim and position it neatly over the ceramic bowl.",
+    "Position the bowl with brown outer rim with the arm, then set the glazed bowl with curved sides above it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick up the blue bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl.",
+    "Stack the rounded bowl with light blue color carefully over the bowl with brown outer rim.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl above, and let go.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the bowl with shiny texture using the left arm.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Pick the blue bowl with slightly rounded base, position the curved bowl light blue shade, and place it over the blue bowl with slightly rounded base.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with the left arm.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl with slightly rounded base on.",
+    "Pick up the rounded bowl with light blue color and set the bowl with brown outer rim on it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the small bowl with brown edge, and stack them.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the rounded bowl with light blue color directly above.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl on top.",
+    "Put the dark inside bowl light blue outside first, then bring the small bowl with brown edge to stack above.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Set the bowl with shiny texture over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the ceramic bowl and stack the ceramic bowl securely onto it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the bowl with shiny texture, position it, and place the medium-sized bowl for holding food on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl rests above.",
+    "Place the glazed bowl with curved sides down and stack the medium-sized bowl for holding food on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Arrange the curved bowl light blue shade, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Take the bowl with brown outer rim, align the blue bowl, and stack them.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Set down the ceramic bowl with earthy brown trim and drop the glazed bowl with curved sides on top.",
+    "Lift the dark inside bowl light blue outside, then stack it on the curved bowl light blue shade.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl on top.",
+    "Grab the blue bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the dark inside bowl light blue outside carefully on the ceramic bowl with earthy brown trim.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the ceramic bowl.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl above it.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the blue bowl, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.",
+    "Stack the glazed bowl with curved sides carefully over the glazed bowl with curved sides.",
+    "Take the ceramic bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Take the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl using the left arm, then stack the small bowl with brown edge using the left arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode39.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode39.json
new file mode 100644
index 0000000000000000000000000000000000000000..07c49b8efde397df4512f53261bd5fd0a74dfbfe
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode39.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bowl with brown outer rim with the arm, then set the curved bowl light blue shade above it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the glazed bowl with curved sides above it.",
+    "the blue bowl goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Take the curved bowl light blue shade, place the bowl with brown outer rim above, and let go.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color above it, and stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the small bowl with brown edge on top.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "With the left arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the left arm.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Take the ceramic bowl, align the medium-sized bowl for holding food, and stack them.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with shiny texture on top.",
+    "Pick up the bowl with brown outer rim, grab the bowl with shiny texture, and stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Put the small bowl with brown edge first, then bring the dark inside bowl light blue outside to stack above.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Stack the dark inside bowl light blue outside carefully over the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, then stack it on the rounded bowl with light blue color.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim on top of the ceramic bowl.",
+    "Align the rounded bowl with light blue color over the curved bowl light blue shade, then complete the stack.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Hold the bowl with shiny texture and stack the blue bowl neatly atop.",
+    "Arrange the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim, and place it over the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Set down the blue bowl with slightly rounded base and drop the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, position it, and place the dark inside bowl light blue outside on top.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl using the left arm.",
+    "Grab the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "Set the small bowl with brown edge over the curved bowl light blue shade to create the stack.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the ceramic bowl with earthy brown trim, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Place the rounded bowl with light blue color down and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl and position it neatly over the blue bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the medium-sized bowl for holding food on.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the left arm.",
+    "Set the medium-sized bowl for holding food down, then add the rounded bowl with light blue color over it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "Position the blue bowl with slightly rounded base and stack the ceramic bowl securely onto it.",
+    "Take the blue bowl, align the dark inside bowl light blue outside, and stack them.",
+    "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Pick up the small bowl with brown edge, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the curved bowl light blue shade directly above.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim on top of the rounded bowl with light blue color.",
+    "Align the ceramic bowl with earthy brown trim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with shiny texture on it.",
+    "Hold the dark inside bowl light blue outside and stack the small bowl with brown edge neatly atop.",
+    "Arrange the medium-sized bowl for holding food, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the medium-sized bowl for holding food down, then set the rounded bowl with light blue color above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim, and place it over the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Set down the small bowl with brown edge and drop the blue bowl on top.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl on top.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the rounded bowl with light blue color using the left arm."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode4.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode4.json
new file mode 100644
index 0000000000000000000000000000000000000000..d266edccd90f9ab275eabc021463626d46b9bb2c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode4.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the small bowl with brown edge, position the bowl with brown outer rim, and place it over the small bowl with brown edge.",
+    "Grab the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.",
+    "Grab the small bowl with brown edge, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Stack the curved bowl light blue shade securely on top of the curved bowl light blue shade.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "With the left arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl with earthy brown trim on.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the blue bowl on top.",
+    "Position the bowl with shiny texture, lift the blue bowl, and place the blue bowl on the bowl with shiny texture.",
+    "Set the bowl with brown outer rim over the bowl with brown outer rim to create the stack.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color on top.",
+    "Align the ceramic bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl.",
+    "Pick up the bowl with brown outer rim and set the curved bowl light blue shade on it.",
+    "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Use the left arm for the blue bowl, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Set down the curved bowl light blue shade and drop the blue bowl on top.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on it.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Use the arm to place the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with brown outer rim on top.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with shiny texture on top.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides on top of the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with shiny texture.",
+    "the rounded bowl with light blue color goes at the bottom, the small bowl with brown edge rests above.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Align the medium-sized bowl for holding food over the small bowl with brown edge, then complete the stack.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with shiny texture to stack above.",
+    "Pick the ceramic bowl, position the ceramic bowl, and place it over the ceramic bowl.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, position the curved bowl light blue shade above it, and stack.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the left arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with brown outer rim on.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the ceramic bowl on top.",
+    "Position the curved bowl light blue shade, lift the small bowl with brown edge, and place the small bowl with brown edge on the curved bowl light blue shade.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl to create the stack.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the small bowl with brown edge down and stack the medium-sized bowl for holding food on top.",
+    "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Set down the glazed bowl with curved sides and drop the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, then stack the rounded bowl with light blue color on it.",
+    "Position the blue bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides on top of the rounded bowl with light blue color.",
+    "Pick up the medium-sized bowl for holding food, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Pick up the blue bowl, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.",
+    "Arrange the small bowl with brown edge, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl above.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl over it.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Align the dark inside bowl light blue outside over the blue bowl, then complete the stack.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Grab the ceramic bowl, then stack the blue bowl on top."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode40.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode40.json
new file mode 100644
index 0000000000000000000000000000000000000000..c47c3bd523f41567cd95fcc716ceea6f825c07b5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode40.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to place the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Set the small bowl with brown edge down, then add the rounded bowl with light blue color over it.",
+    "Grab the blue bowl, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "the ceramic bowl goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the blue bowl with slightly rounded base and set the dark inside bowl light blue outside on it.",
+    "Hold the dark inside bowl light blue outside and stack the blue bowl neatly atop.",
+    "Set down the ceramic bowl with earthy brown trim and drop the medium-sized bowl for holding food on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Position the rounded bowl with light blue color, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Take the small bowl with brown edge, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the curved bowl light blue shade and stack the bowl with shiny texture using the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the small bowl with brown edge using the right arm.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Stack the blue bowl securely on top of the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Arrange the rounded bowl with light blue color, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grab the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.",
+    "Pick the small bowl with brown edge, then stack the blue bowl with slightly rounded base on it.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl on top of the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Position the bowl with brown outer rim with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the dark inside bowl light blue outside, position the small bowl with brown edge, and place it over the dark inside bowl light blue outside.",
+    "Align the curved bowl light blue shade and the blue bowl, then stack the blue bowl on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.",
+    "Stack the bowl with brown outer rim carefully over the medium-sized bowl for holding food.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Hold the rounded bowl with light blue color steady and slide the bowl with brown outer rim on.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with the right arm.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl securely onto it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Take the glazed bowl with curved sides, place the medium-sized bowl for holding food above, and let go.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Place the curved bowl light blue shade down and stack the medium-sized bowl for holding food on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick up the medium-sized bowl for holding food and set the small bowl with brown edge on it.",
+    "Hold the rounded bowl with light blue color and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the bowl with shiny texture over it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, position it, and place the curved bowl light blue shade on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Position the small bowl with brown edge, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Take the bowl with brown outer rim, align the bowl with brown outer rim, and stack them.",
+    "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.",
+    "With the right arm, lift the small bowl with brown edge and stack the glazed bowl with curved sides using the right arm.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim above it.",
+    "Grab the ceramic bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.",
+    "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Put the curved bowl light blue shade first, then bring the dark inside bowl light blue outside to stack above.",
+    "Grab the small bowl with brown edge, then stack the blue bowl on top.",
+    "Place the rounded bowl with light blue color on the surface, then stack the small bowl with brown edge above it.",
+    "Position the dark inside bowl light blue outside carefully on the glazed bowl with curved sides.",
+    "Pick the rounded bowl with light blue color, then stack the bowl with shiny texture on it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Align the glazed bowl with curved sides over the glazed bowl with curved sides, then complete the stack.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, position it, then stack the small bowl with brown edge directly above.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with shiny texture on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the small bowl with brown edge securely onto it.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode41.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode41.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4e5bb22357cc378bff02948d09cded1a743ab5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode41.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the curved bowl light blue shade on top.",
+    "Hold the glazed bowl with curved sides and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick up the glazed bowl with curved sides and set the curved bowl light blue shade on it.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Set the small bowl with brown edge down, then add the bowl with brown outer rim over it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the rounded bowl with light blue color.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color above it.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Position the dark inside bowl light blue outside with the arm, then set the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl, lift it up, position the blue bowl, and stack them.",
+    "Grab the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on top.",
+    "Take the blue bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Arrange the ceramic bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Stack the bowl with brown outer rim securely on top of the curved bowl light blue shade.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Align the blue bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the left arm.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Set the glazed bowl with curved sides over the medium-sized bowl for holding food to create the stack.",
+    "Pick the bowl with brown outer rim, position the dark inside bowl light blue outside, and place it over the bowl with brown outer rim.",
+    "Pick the bowl with shiny texture, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with shiny texture on top.",
+    "Lift the bowl with brown outer rim, position the blue bowl above it, and stack.",
+    "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Put the ceramic bowl first, then bring the blue bowl to stack above.",
+    "Grab the medium-sized bowl for holding food, then carefully place the small bowl with brown edge on top.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with brown outer rim on top.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl on it.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Set the blue bowl with slightly rounded base down, then add the glazed bowl with curved sides over it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture above it.",
+    "Take the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside on top.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the small bowl with brown edge, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Take the ceramic bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.",
+    "Use the right arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Position the curved bowl light blue shade, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Lift the blue bowl using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Lift the blue bowl and position it neatly over the blue bowl.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl rests above.",
+    "Position the bowl with shiny texture and stack the small bowl with brown edge securely onto it.",
+    "Align the small bowl with brown edge and the bowl with brown outer rim, then stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Set down the dark inside bowl light blue outside and drop the medium-sized bowl for holding food on top.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl using the left arm.",
+    "Take the small bowl with brown edge, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the curved bowl light blue shade, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl over it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the small bowl with brown edge on top.",
+    "Pick up the bowl with brown outer rim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the curved bowl light blue shade, position the ceramic bowl above it, and stack.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "Put the small bowl with brown edge first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the bowl with shiny texture, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the ceramic bowl with earthy brown trim, align the curved bowl light blue shade, and stack them.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode42.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode42.json
new file mode 100644
index 0000000000000000000000000000000000000000..22768107e1bd2d4bf6b08805c3ea880bbbeee238
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode42.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the curved bowl light blue shade on top.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim down, then set the curved bowl light blue shade above it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl on top.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the curved bowl light blue shade, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Stack the medium-sized bowl for holding food securely on top of the dark inside bowl light blue outside.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.",
+    "Use the right arm for the ceramic bowl, place it, and stack the ceramic bowl with the left arm.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.",
+    "Set down the bowl with shiny texture and drop the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the left arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Lift the rounded bowl with light blue color and position it neatly over the glazed bowl with curved sides.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Pick the medium-sized bowl for holding food, then stack the bowl with shiny texture on it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "Pick the small bowl with brown edge, position the glazed bowl with curved sides, and place it over the small bowl with brown edge.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Position the ceramic bowl and stack the bowl with shiny texture securely onto it.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Grab the bowl with brown outer rim, then carefully place the small bowl with brown edge on top.",
+    "Hold the dark inside bowl light blue outside and stack the rounded bowl with light blue color neatly atop.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Use the arm to place the curved bowl light blue shade, then stack the dark inside bowl light blue outside on top.",
+    "Grab the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Align the blue bowl over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the blue bowl with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the small bowl with brown edge.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Take the bowl with shiny texture, align the bowl with brown outer rim, and stack them.",
+    "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with brown outer rim over it.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Take the blue bowl, place it, and stack the ceramic bowl on top.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim above it.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Align the small bowl with brown edge and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, position it, and place the small bowl with brown edge on top.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl with slightly rounded base on top of the dark inside bowl light blue outside.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the glazed bowl with curved sides.",
+    "With the right arm, lift the ceramic bowl and stack the bowl with brown outer rim using the left arm.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "the bowl with brown outer rim goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl with slightly rounded base.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, then stack the glazed bowl with curved sides on it.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Pick the glazed bowl with curved sides, position the small bowl with brown edge, and place it over the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Take the bowl with brown outer rim, position it, then stack the small bowl with brown edge directly above.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the blue bowl, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Hold the dark inside bowl light blue outside and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl with slightly rounded base on it.",
+    "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Use the arm to place the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the small bowl with brown edge above.",
+    "Arrange the glazed bowl with curved sides, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Hold the rounded bowl with light blue color steady and slide the small bowl with brown edge on.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Set the blue bowl with slightly rounded base down, then add the rounded bowl with light blue color over it."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode43.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode43.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de353af30c5daa0c0b7abb9c30a7c62f33bd725
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode43.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture on top of the bowl with shiny texture.",
+    "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack.",
+    "Place the ceramic bowl down, then set the medium-sized bowl for holding food above it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Stack the blue bowl with slightly rounded base carefully over the small bowl with brown edge.",
+    "Align the bowl with brown outer rim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "With the left arm, lift the bowl with shiny texture and stack the dark inside bowl light blue outside using the right arm.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with the arm, and stack them.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Set down the blue bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Position the small bowl with brown edge and stack the bowl with shiny texture securely onto it.",
+    "Hold the curved bowl light blue shade and stack the glazed bowl with curved sides neatly atop.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with brown outer rim.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl above.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl on top.",
+    "Take the rounded bowl with light blue color, place the bowl with brown outer rim above, and let go.",
+    "Lift the medium-sized bowl for holding food, then stack it on the curved bowl light blue shade.",
+    "Pick up the bowl with shiny texture, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the medium-sized bowl for holding food, lift the ceramic bowl, and place the ceramic bowl on the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Position the blue bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the bowl with brown outer rim.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Take the glazed bowl with curved sides, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the rounded bowl with light blue color, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Grab the bowl with shiny texture, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Align the glazed bowl with curved sides over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside on top of the bowl with brown outer rim.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top.",
+    "Take the rounded bowl with light blue color, align the small bowl with brown edge, and stack them.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the ceramic bowl using the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the ceramic bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Lift the dark inside bowl light blue outside, position the glazed bowl with curved sides above it, and stack.",
+    "Place the blue bowl down, then set the ceramic bowl above it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "Stack the ceramic bowl carefully over the rounded bowl with light blue color.",
+    "Align the ceramic bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "With the left arm, lift the blue bowl and stack the dark inside bowl light blue outside using the right arm.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the dark inside bowl light blue outside on top.",
+    "Arrange the curved bowl light blue shade, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the dark inside bowl light blue outside on it.",
+    "Set down the blue bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on it.",
+    "Position the small bowl with brown edge and stack the bowl with shiny texture securely onto it.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Position the medium-sized bowl for holding food carefully on the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Put the bowl with brown outer rim first, then bring the bowl with shiny texture to stack above.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Place the glazed bowl with curved sides down and stack the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Lift the dark inside bowl light blue outside, then stack it on the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl on top.",
+    "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl.",
+    "Position the bowl with shiny texture with the arm, then set the bowl with shiny texture above it.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl rests above.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Set the bowl with brown outer rim down, then add the bowl with brown outer rim over it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with shiny texture, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Set the dark inside bowl light blue outside over the rounded bowl with light blue color to create the stack.",
+    "Pick up the ceramic bowl, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl.",
+    "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.",
+    "Place the bowl with shiny texture down, then set the dark inside bowl light blue outside on top of the bowl with shiny texture.",
+    "Hold the medium-sized bowl for holding food steady and slide the blue bowl with slightly rounded base on."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode44.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode44.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cb1d20ebcf1f9c78dcb17add60d7c39b1fdbcf4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode44.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl directly above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with shiny texture.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Hold the blue bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Pick the blue bowl, position on the table, and place the blue bowl over it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Stack the medium-sized bowl for holding food securely on top of the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl with slightly rounded base.",
+    "Take the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides on top.",
+    "Stack the small bowl with brown edge carefully over the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.",
+    "Set down the bowl with brown outer rim and drop the ceramic bowl on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the blue bowl.",
+    "Grab the bowl with brown outer rim, position it, and place the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base and set the small bowl with brown edge on it.",
+    "Align the bowl with brown outer rim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, then stack the medium-sized bowl for holding food on it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Position the small bowl with brown edge with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick the bowl with shiny texture, position the ceramic bowl with earthy brown trim, and place it over the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Position the small bowl with brown edge, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.",
+    "Put the bowl with brown outer rim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl rests above.",
+    "Arrange the ceramic bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the blue bowl, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the ceramic bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the blue bowl, then stack it on the bowl with brown outer rim.",
+    "Place the dark inside bowl light blue outside down, then set the curved bowl light blue shade on top of the dark inside bowl light blue outside.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the blue bowl with slightly rounded base using the right arm.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the rounded bowl with light blue color on.",
+    "Set the small bowl with brown edge over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Take the blue bowl, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Position the small bowl with brown edge and stack the bowl with shiny texture securely onto it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.",
+    "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl with earthy brown trim.",
+    "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.",
+    "Position the rounded bowl with light blue color carefully on the glazed bowl with curved sides.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Grasp the blue bowl, then use the arm to align and stack the ceramic bowl.",
+    "Lift the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the curved bowl light blue shade on top.",
+    "Pick up the blue bowl and set the dark inside bowl light blue outside on it.",
+    "Align the glazed bowl with curved sides and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Pick the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on it.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, position the small bowl with brown edge above it, and stack.",
+    "Position the curved bowl light blue shade, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture and position it neatly over the medium-sized bowl for holding food.",
+    "Place the small bowl with brown edge down and stack the bowl with brown outer rim on top.",
+    "Put the dark inside bowl light blue outside first, then bring the blue bowl with slightly rounded base to stack above.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Take the blue bowl, place the rounded bowl with light blue color above, and let go.",
+    "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Grab the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the blue bowl using the right arm.",
+    "Grab the blue bowl, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the right arm.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Hold the dark inside bowl light blue outside steady and slide the curved bowl light blue shade on.",
+    "Set the ceramic bowl over the rounded bowl with light blue color to create the stack.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with the right arm.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the rounded bowl with light blue color directly above."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode45.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode45.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e6215931b4ddcf651ac00392d8f6f9095a1536
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode45.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides on top of the bowl with shiny texture.",
+    "Grab the medium-sized bowl for holding food, position it, and place the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Take the small bowl with brown edge, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the blue bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl.",
+    "Position the glazed bowl with curved sides carefully on the medium-sized bowl for holding food.",
+    "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Set the blue bowl with slightly rounded base over the curved bowl light blue shade to create the stack.",
+    "Hold the bowl with shiny texture steady and slide the bowl with brown outer rim on.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick the curved bowl light blue shade, then stack the dark inside bowl light blue outside on it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Stack the blue bowl securely on top of the ceramic bowl.",
+    "Grab the ceramic bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Align the glazed bowl with curved sides and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Grab the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "Place the glazed bowl with curved sides down and stack the rounded bowl with light blue color on top.",
+    "Use the left arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Take the blue bowl with slightly rounded base, align the bowl with brown outer rim, and stack them.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the small bowl with brown edge and stack the rounded bowl with light blue color neatly atop.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Align the glazed bowl with curved sides over the curved bowl light blue shade, then complete the stack.",
+    "Take the medium-sized bowl for holding food, place it, and stack the curved bowl light blue shade on top.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base above it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick the medium-sized bowl for holding food, position the bowl with shiny texture, and place it over the medium-sized bowl for holding food.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick up the blue bowl and set the bowl with brown outer rim on it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Lift the ceramic bowl, lay it down, and stack the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with shiny texture above, and let go.",
+    "Set down the small bowl with brown edge and drop the small bowl with brown edge on top.",
+    "Stack the ceramic bowl carefully over the bowl with shiny texture.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl on top.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Pick up the glazed bowl with curved sides, grab the small bowl with brown edge, and stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Set the dark inside bowl light blue outside over the bowl with brown outer rim to create the stack.",
+    "Hold the rounded bowl with light blue color steady and slide the dark inside bowl light blue outside on.",
+    "With the left arm, lift the small bowl with brown edge and stack the bowl with brown outer rim using the right arm.",
+    "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color, set it down, then place the dark inside bowl light blue outside over it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, position the small bowl with brown edge above it, and stack.",
+    "Arrange the bowl with brown outer rim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Align the blue bowl and the ceramic bowl, then stack the ceramic bowl on the blue bowl.",
+    "Lift the small bowl with brown edge and position it neatly over the small bowl with brown edge.",
+    "Pick the bowl with shiny texture, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Lift the blue bowl, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the blue bowl.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Align the dark inside bowl light blue outside over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Position the blue bowl with slightly rounded base, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Pick the rounded bowl with light blue color, position the curved bowl light blue shade, and place it over the rounded bowl with light blue color.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Grab the ceramic bowl, then carefully place the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick up the blue bowl and set the ceramic bowl on it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Set down the glazed bowl with curved sides and drop the rounded bowl with light blue color on top.",
+    "Stack the small bowl with brown edge carefully over the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode46.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode46.json
new file mode 100644
index 0000000000000000000000000000000000000000..7258032de8b24b059e9e3c0e95bad92513351bb7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode46.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with brown outer rim, grab the blue bowl, and set the blue bowl on the bowl with brown outer rim.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the small bowl with brown edge using the left arm.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl above it.",
+    "Position the rounded bowl with light blue color and stack the ceramic bowl securely onto it.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the bowl with shiny texture on top.",
+    "Hold the blue bowl with slightly rounded base and stack the curved bowl light blue shade neatly atop.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Lift the small bowl with brown edge, position the ceramic bowl above it, and stack.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Lift the small bowl with brown edge and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Pick the glazed bowl with curved sides, position the curved bowl light blue shade, and place it over the glazed bowl with curved sides.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Put the bowl with shiny texture first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with brown outer rim on.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the bowl with brown outer rim down, then set the blue bowl with slightly rounded base on top of the bowl with brown outer rim.",
+    "Position the bowl with shiny texture with the arm, then set the bowl with brown outer rim above it.",
+    "Take the small bowl with brown edge, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl, and stack the blue bowl on the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the curved bowl light blue shade over it.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.",
+    "Stack the bowl with brown outer rim carefully over the medium-sized bowl for holding food.",
+    "Lift the blue bowl using the left arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl over it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the curved bowl light blue shade using the left arm.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "the curved bowl light blue shade goes at the bottom, the small bowl with brown edge rests above.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the blue bowl with the left arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the blue bowl and stack the small bowl with brown edge securely onto it.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with shiny texture on top.",
+    "Grab the blue bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.",
+    "Hold the medium-sized bowl for holding food and stack the dark inside bowl light blue outside neatly atop.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Lift the bowl with brown outer rim, position the blue bowl above it, and stack.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl directly above.",
+    "Set the bowl with brown outer rim over the rounded bowl with light blue color to create the stack.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture and set the bowl with shiny texture on it.",
+    "Set down the bowl with brown outer rim and drop the small bowl with brown edge on top.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on it.",
+    "Put the small bowl with brown edge first, then bring the bowl with shiny texture to stack above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Lift the ceramic bowl, then stack it on the glazed bowl with curved sides.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the bowl with brown outer rim down, then set the ceramic bowl on top of the bowl with brown outer rim.",
+    "Position the small bowl with brown edge with the arm, then set the curved bowl light blue shade above it.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Place the medium-sized bowl for holding food down and stack the curved bowl light blue shade on top.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Pick up the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Grab the blue bowl with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl above it.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Align the blue bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode47.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode47.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd21657202d94ebcca5bc507dd4016faf4f3c6c2
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode47.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the small bowl with brown edge down, then add the ceramic bowl over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Position the dark inside bowl light blue outside with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Set the bowl with brown outer rim over the curved bowl light blue shade to create the stack.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl with earthy brown trim on.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.",
+    "Stack the dark inside bowl light blue outside carefully over the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Take the blue bowl with slightly rounded base, align the bowl with brown outer rim, and stack them.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with brown outer rim on top.",
+    "Stack the dark inside bowl light blue outside securely on top of the ceramic bowl.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl with slightly rounded base on top.",
+    "the ceramic bowl goes at the bottom, the blue bowl rests above.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.",
+    "Position the bowl with shiny texture and stack the curved bowl light blue shade securely onto it.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl down and stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl carefully on the medium-sized bowl for holding food.",
+    "Position the bowl with brown outer rim, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the medium-sized bowl for holding food using the right arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the blue bowl with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the bowl with shiny texture, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Pick the ceramic bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Put the medium-sized bowl for holding food first, then bring the dark inside bowl light blue outside to stack above.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl and set the dark inside bowl light blue outside on it.",
+    "Grab the rounded bowl with light blue color, then carefully place the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl with slightly rounded base, position the small bowl with brown edge, and place it over the blue bowl with slightly rounded base.",
+    "Set down the blue bowl with slightly rounded base and drop the bowl with shiny texture on top.",
+    "Align the ceramic bowl with earthy brown trim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the bowl with brown outer rim.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the bowl with shiny texture, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the dark inside bowl light blue outside, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "Set the ceramic bowl over the blue bowl to create the stack.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Take the bowl with brown outer rim, position it, then stack the ceramic bowl directly above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl with slightly rounded base on.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Lift the bowl with shiny texture, position the ceramic bowl above it, and stack.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Take the blue bowl with slightly rounded base, align the curved bowl light blue shade, and stack them.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the bowl with shiny texture on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the rounded bowl with light blue color on top.",
+    "the bowl with brown outer rim goes at the bottom, the ceramic bowl rests above.",
+    "Pick the blue bowl, then stack the ceramic bowl on it.",
+    "Position the ceramic bowl and stack the bowl with brown outer rim securely onto it.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with shiny texture.",
+    "Place the bowl with shiny texture down and stack the rounded bowl with light blue color on top.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the right arm.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge above it.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Take the ceramic bowl, place the rounded bowl with light blue color above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl with earthy brown trim on top of the dark inside bowl light blue outside.",
+    "Pick up the glazed bowl with curved sides and set the glazed bowl with curved sides on it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Pick the ceramic bowl, position the ceramic bowl, and place it over the ceramic bowl.",
+    "Set down the dark inside bowl light blue outside and drop the small bowl with brown edge on top.",
+    "Align the blue bowl and the ceramic bowl, then stack the ceramic bowl on the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the rounded bowl with light blue color.",
+    "Set the dark inside bowl light blue outside down, then add the ceramic bowl over it.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode48.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode48.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4de024ae44265ee3c2ebc205d85799355007284
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode48.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Align the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside, then complete the stack.",
+    "Align the curved bowl light blue shade and the small bowl with brown edge, then stack the small bowl with brown edge on the curved bowl light blue shade.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl on top of the small bowl with brown edge.",
+    "Arrange the blue bowl with slightly rounded base, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with shiny texture rests above.",
+    "Use the arm to place the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl above it.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Hold the blue bowl steady and slide the small bowl with brown edge on.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl with earthy brown trim on it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl.",
+    "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Set the blue bowl down, then add the glazed bowl with curved sides over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the small bowl with brown edge above it, and stack.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl with earthy brown trim to create the stack.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the glazed bowl with curved sides using the right arm.",
+    "Pick the ceramic bowl, position the curved bowl light blue shade, and place it over the ceramic bowl.",
+    "Put the medium-sized bowl for holding food first, then bring the medium-sized bowl for holding food to stack above.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color, position it, and place the glazed bowl with curved sides on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside above it.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Stack the medium-sized bowl for holding food carefully over the rounded bowl with light blue color.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the blue bowl with the right arm.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Hold the blue bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color, then stack it on the curved bowl light blue shade.",
+    "Take the blue bowl, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl directly above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Align the rounded bowl with light blue color over the bowl with shiny texture, then complete the stack.",
+    "Align the blue bowl and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Arrange the curved bowl light blue shade, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl over it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl above it.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl on it.",
+    "Grab the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Hold the blue bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside and set the curved bowl light blue shade on it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl, and stack them.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides securely onto it.",
+    "Set the curved bowl light blue shade down, then add the rounded bowl with light blue color over it.",
+    "Lift the medium-sized bowl for holding food, position the ceramic bowl above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "With the left arm, lift the curved bowl light blue shade and stack the dark inside bowl light blue outside using the right arm.",
+    "Pick the glazed bowl with curved sides, position the rounded bowl with light blue color, and place it over the glazed bowl with curved sides.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the bowl with brown outer rim, grab the blue bowl, and set the blue bowl on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl above it.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the blue bowl.",
+    "Use the left arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the blue bowl using the right arm.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the blue bowl down and stack the bowl with brown outer rim on top.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the dark inside bowl light blue outside, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Position the small bowl with brown edge carefully on the medium-sized bowl for holding food.",
+    "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, place the small bowl with brown edge above, and let go.",
+    "Take the bowl with shiny texture, position it, then stack the ceramic bowl directly above.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the blue bowl with slightly rounded base above it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode49.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode49.json
new file mode 100644
index 0000000000000000000000000000000000000000..c33a2cb4c7877b705662d7bc9dc13e3da92645bb
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode49.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the ceramic bowl and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the small bowl with brown edge over it.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Put the bowl with shiny texture first, then bring the blue bowl to stack above.",
+    "Position the blue bowl, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the blue bowl.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the left arm.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade on top.",
+    "Set the blue bowl down, then add the medium-sized bowl for holding food over it.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl.",
+    "Pick the dark inside bowl light blue outside, position the glazed bowl with curved sides, and place it over the dark inside bowl light blue outside.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Lift the glazed bowl with curved sides and position it neatly over the bowl with brown outer rim.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl above.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture on top of the blue bowl with slightly rounded base.",
+    "Take the small bowl with brown edge, align the ceramic bowl, and stack them.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the ceramic bowl over it.",
+    "the rounded bowl with light blue color goes at the bottom, the blue bowl rests above.",
+    "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.",
+    "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with shiny texture.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl, then complete the stack.",
+    "Place the ceramic bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Arrange the blue bowl, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Set the bowl with shiny texture over the bowl with shiny texture to create the stack.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the medium-sized bowl for holding food above it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge above it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Hold the blue bowl steady and slide the rounded bowl with light blue color on.",
+    "Align the glazed bowl with curved sides and the blue bowl, then stack the blue bowl on the glazed bowl with curved sides.",
+    "Set down the small bowl with brown edge and drop the glazed bowl with curved sides on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.",
+    "Position the blue bowl, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl.",
+    "Hold the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the left arm.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Stack the blue bowl carefully over the rounded bowl with light blue color.",
+    "Take the ceramic bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the bowl with shiny texture.",
+    "Pick the ceramic bowl with earthy brown trim, position the bowl with shiny texture, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the curved bowl light blue shade above.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim on top of the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, align the medium-sized bowl for holding food, and stack them.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the left arm.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Stack the small bowl with brown edge securely on top of the dark inside bowl light blue outside.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Lift the ceramic bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the curved bowl light blue shade above it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl on it.",
+    "Set the rounded bowl with light blue color over the rounded bowl with light blue color to create the stack.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Position the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color securely onto it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Hold the ceramic bowl steady and slide the rounded bowl with light blue color on.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode5.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode5.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0eb4ab7f04207350973e2d9adc3c082ebd4d9f4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode5.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Stack the glazed bowl with curved sides securely on top of the bowl with brown outer rim.",
+    "Set down the medium-sized bowl for holding food and drop the rounded bowl with light blue color on top.",
+    "With the left arm, lift the blue bowl and stack the glazed bowl with curved sides using the right arm.",
+    "Put the bowl with shiny texture first, then bring the rounded bowl with light blue color to stack above.",
+    "Take the small bowl with brown edge, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the rounded bowl with light blue color, then stack it on the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with brown outer rim on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with brown outer rim on top.",
+    "Align the glazed bowl with curved sides over the bowl with brown outer rim, then complete the stack.",
+    "Stack the bowl with brown outer rim carefully over the bowl with brown outer rim.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with brown outer rim over it.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with shiny texture above it.",
+    "Use the arm to place the blue bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Align the blue bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Pick the medium-sized bowl for holding food, position the medium-sized bowl for holding food, and place it over the medium-sized bowl for holding food.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl above it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Take the small bowl with brown edge, align the blue bowl, and stack them.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture on top of the bowl with brown outer rim.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the ceramic bowl using the right arm.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Set the medium-sized bowl for holding food down, then add the ceramic bowl over it.",
+    "Place the small bowl with brown edge on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the curved bowl light blue shade, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the medium-sized bowl for holding food and set the curved bowl light blue shade on it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Hold the blue bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Grab the rounded bowl with light blue color, lift it up, position the small bowl with brown edge, and stack them.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the small bowl with brown edge rests above.",
+    "Pick up the ceramic bowl, place it down, then position the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with shiny texture on top.",
+    "Lift the medium-sized bowl for holding food, position the dark inside bowl light blue outside above it, and stack.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the right arm.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl to stack above.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the ceramic bowl, then stack it on the dark inside bowl light blue outside.",
+    "Pick up the bowl with brown outer rim, grab the ceramic bowl, and stack the ceramic bowl on the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Position the blue bowl, lift the small bowl with brown edge, and place the small bowl with brown edge on the blue bowl.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the medium-sized bowl for holding food on top.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with brown outer rim over it.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl on top.",
+    "Align the ceramic bowl with earthy brown trim over the bowl with shiny texture, then complete the stack.",
+    "Stack the curved bowl light blue shade carefully over the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Position the ceramic bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Align the small bowl with brown edge and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick the glazed bowl with curved sides, then stack the curved bowl light blue shade on it.",
+    "Pick the blue bowl, position the rounded bowl with light blue color, and place it over the blue bowl.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Grab the blue bowl with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Lift the curved bowl light blue shade, grab the blue bowl, and set the blue bowl on the curved bowl light blue shade.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Arrange the dark inside bowl light blue outside, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Take the small bowl with brown edge, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Pick up the blue bowl and set the dark inside bowl light blue outside on it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "the small bowl with brown edge goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the small bowl with brown edge, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode50.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode50.json
new file mode 100644
index 0000000000000000000000000000000000000000..34e1fc44d83d945df90d651ee60df8d3a0b2a1b6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode50.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the curved bowl light blue shade, position it, and place the ceramic bowl on top.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade on top.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the small bowl with brown edge.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.",
+    "Pick up the curved bowl light blue shade, grab the blue bowl, and stack the blue bowl on the curved bowl light blue shade.",
+    "Set down the bowl with shiny texture and drop the rounded bowl with light blue color on top.",
+    "Pick the medium-sized bowl for holding food, position the glazed bowl with curved sides, and place it over the medium-sized bowl for holding food.",
+    "Position the ceramic bowl and stack the ceramic bowl securely onto it.",
+    "Align the rounded bowl with light blue color and the small bowl with brown edge, then stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Place the curved bowl light blue shade down, then set the curved bowl light blue shade above it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the rounded bowl with light blue color above it.",
+    "Place the ceramic bowl down and stack the bowl with brown outer rim on top.",
+    "Lift the glazed bowl with curved sides, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl with slightly rounded base on it.",
+    "Take the bowl with shiny texture, place the blue bowl above, and let go.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Take the dark inside bowl light blue outside, align the bowl with shiny texture, and stack them.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl, and place the blue bowl on the dark inside bowl light blue outside.",
+    "Lift the blue bowl and position it neatly over the glazed bowl with curved sides.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge on top of the bowl with brown outer rim.",
+    "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the bowl with shiny texture using the right arm.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl above it.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with the arm, and stack them.",
+    "Stack the medium-sized bowl for holding food carefully over the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl on top.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the blue bowl with slightly rounded base, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Put the blue bowl with slightly rounded base first, then bring the medium-sized bowl for holding food to stack above.",
+    "Grab the dark inside bowl light blue outside, then carefully place the bowl with brown outer rim on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with shiny texture on top.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl, and stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Set down the curved bowl light blue shade and drop the blue bowl on top.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Position the bowl with brown outer rim and stack the dark inside bowl light blue outside securely onto it.",
+    "Align the bowl with shiny texture and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with shiny texture.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with shiny texture, and stack them.",
+    "Set the blue bowl with slightly rounded base down, then add the medium-sized bowl for holding food over it.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, then stack the blue bowl with slightly rounded base on top.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick the blue bowl, then stack the dark inside bowl light blue outside on it.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Stack the bowl with brown outer rim securely on top of the small bowl with brown edge.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Take the blue bowl, place the curved bowl light blue shade above, and let go.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Take the curved bowl light blue shade, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Position the ceramic bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl.",
+    "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the curved bowl light blue shade down, then set the rounded bowl with light blue color on top of the curved bowl light blue shade.",
+    "Align the medium-sized bowl for holding food over the blue bowl, then complete the stack.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "With the left arm, lift the curved bowl light blue shade and stack the medium-sized bowl for holding food using the right arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Arrange the glazed bowl with curved sides, lift the bowl with shiny texture with the arm, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the dark inside bowl light blue outside over it.",
+    "Take the ceramic bowl, position it, then stack the glazed bowl with curved sides directly above.",
+    "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode51.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode51.json
new file mode 100644
index 0000000000000000000000000000000000000000..082f37b33d98b991adfe7d236b2ce99dd6e07fea
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode51.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with shiny texture over it.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the small bowl with brown edge, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Place the small bowl with brown edge on the surface, then stack the ceramic bowl above it.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Align the glazed bowl with curved sides and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Place the bowl with brown outer rim down, then set the blue bowl above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Put the blue bowl first, then bring the small bowl with brown edge to stack above.",
+    "Pick up the medium-sized bowl for holding food and set the curved bowl light blue shade on it.",
+    "Take the glazed bowl with curved sides, align the bowl with brown outer rim, and stack them.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the rounded bowl with light blue color over it.",
+    "Position the small bowl with brown edge, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, position it, and place the small bowl with brown edge on top.",
+    "Stack the dark inside bowl light blue outside carefully over the blue bowl.",
+    "Hold the ceramic bowl steady and slide the blue bowl on.",
+    "Take the dark inside bowl light blue outside, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim on top of the rounded bowl with light blue color.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.",
+    "Set the dark inside bowl light blue outside down, then add the ceramic bowl with earthy brown trim over it.",
+    "Position the curved bowl light blue shade carefully on the small bowl with brown edge.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Pick up the blue bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "the curved bowl light blue shade goes at the bottom, the curved bowl light blue shade rests above.",
+    "With the right arm, lift the ceramic bowl and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the bowl with brown outer rim above.",
+    "Set the blue bowl over the bowl with shiny texture to create the stack.",
+    "Take the medium-sized bowl for holding food, place the bowl with shiny texture above, and let go.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Position the ceramic bowl with earthy brown trim and stack the glazed bowl with curved sides securely onto it.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Position the curved bowl light blue shade with the arm, then set the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Arrange the rounded bowl with light blue color, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the rounded bowl with light blue color down and stack the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the small bowl with brown edge with the right arm.",
+    "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Align the blue bowl with slightly rounded base and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the glazed bowl with curved sides, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick the dark inside bowl light blue outside, position the glazed bowl with curved sides, and place it over the dark inside bowl light blue outside.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Take the curved bowl light blue shade, place it, and stack the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the rounded bowl with light blue color down, then set the bowl with brown outer rim on top of the rounded bowl with light blue color.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Set the medium-sized bowl for holding food down, then add the bowl with brown outer rim over it.",
+    "Position the dark inside bowl light blue outside carefully on the blue bowl.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the blue bowl using the right arm.",
+    "Pick the small bowl with brown edge, then stack the small bowl with brown edge on it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "the glazed bowl with curved sides goes at the bottom, the small bowl with brown edge rests above.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Lift the blue bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "Set the small bowl with brown edge over the bowl with brown outer rim to create the stack.",
+    "Take the dark inside bowl light blue outside, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick the curved bowl light blue shade, position on the table, and place the blue bowl over it."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode52.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode52.json
new file mode 100644
index 0000000000000000000000000000000000000000..5793ded8708c47d9b53d04ea232c6d08f2941976
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode52.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "the blue bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the dark inside bowl light blue outside and stack the blue bowl with slightly rounded base securely onto it.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "Take the bowl with brown outer rim, place the ceramic bowl above, and let go.",
+    "Lift the blue bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Position the small bowl with brown edge, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color above it.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the blue bowl with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Set the bowl with shiny texture over the curved bowl light blue shade to create the stack.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge on top of the medium-sized bowl for holding food.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Take the blue bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with brown outer rim over it.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Take the curved bowl light blue shade, place it, and stack the small bowl with brown edge on top.",
+    "Arrange the bowl with brown outer rim, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the rounded bowl with light blue color over it.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and stack the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the blue bowl with slightly rounded base carefully on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the bowl with brown outer rim using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Set down the curved bowl light blue shade and drop the bowl with shiny texture on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with shiny texture neatly atop.",
+    "Lift the blue bowl, position the curved bowl light blue shade above it, and stack.",
+    "Align the medium-sized bowl for holding food over the rounded bowl with light blue color, then complete the stack.",
+    "the glazed bowl with curved sides goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "Grab the blue bowl, position it, and place the bowl with brown outer rim on top.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl above, and let go.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the rounded bowl with light blue color above it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl, lift it up, position the small bowl with brown edge, and stack them.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, then stack the curved bowl light blue shade on top.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with shiny texture over it.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Stack the blue bowl carefully over the blue bowl.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl to stack above.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with brown outer rim.",
+    "Set the small bowl with brown edge over the small bowl with brown edge to create the stack.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color on top of the blue bowl with slightly rounded base.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.",
+    "Grab the blue bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Hold the rounded bowl with light blue color steady and slide the dark inside bowl light blue outside on.",
+    "Take the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside on top.",
+    "Arrange the rounded bowl with light blue color, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the glazed bowl with curved sides, then carefully place the glazed bowl with curved sides on top.",
+    "Pick the bowl with shiny texture, then stack the blue bowl on it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the glazed bowl with curved sides on top.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the bowl with shiny texture over it.",
+    "Place the blue bowl with slightly rounded base down and stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the small bowl with brown edge, and stack the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Position the blue bowl carefully on the ceramic bowl.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with shiny texture.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Lift the curved bowl light blue shade, position the curved bowl light blue shade above it, and stack.",
+    "Align the dark inside bowl light blue outside over the small bowl with brown edge, then complete the stack.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl with slightly rounded base rests above."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode53.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode53.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e6b8b73549f44744ceae5db778eb9d4e3d8869
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode53.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bowl with brown outer rim using the right arm, then stack the blue bowl using the left arm.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the bowl with brown outer rim, position the bowl with brown outer rim above it, and stack.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Set the dark inside bowl light blue outside down, then add the medium-sized bowl for holding food over it.",
+    "Place the ceramic bowl down, then set the bowl with brown outer rim above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with shiny texture.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Pick the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food, and place it over the ceramic bowl with earthy brown trim.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Position the small bowl with brown edge with the arm, then set the small bowl with brown edge above it.",
+    "Stack the blue bowl securely on top of the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl, and stack them.",
+    "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick the curved bowl light blue shade, position on the table, and place the rounded bowl with light blue color over it.",
+    "Align the curved bowl light blue shade over the curved bowl light blue shade, then complete the stack.",
+    "Position the small bowl with brown edge and stack the bowl with shiny texture securely onto it.",
+    "Lift the ceramic bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl.",
+    "Grab the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Place the dark inside bowl light blue outside down, then set the rounded bowl with light blue color on top of the dark inside bowl light blue outside.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the ceramic bowl using the left arm.",
+    "Grab the blue bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl, grab the blue bowl, and stack the blue bowl on the blue bowl.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "Set the small bowl with brown edge over the bowl with brown outer rim to create the stack.",
+    "Use the right arm for the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the dark inside bowl light blue outside on top.",
+    "Take the blue bowl, align the bowl with shiny texture, and stack them.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food, lift the bowl with shiny texture, and place the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Lift the blue bowl, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl and set the rounded bowl with light blue color on it.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl with slightly rounded base.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Pick the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Align the blue bowl and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Arrange the blue bowl, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base neatly atop.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the blue bowl using the left arm.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the small bowl with brown edge, position the glazed bowl with curved sides above it, and stack.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl with earthy brown trim on top.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl above it.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the curved bowl light blue shade.",
+    "Take the glazed bowl with curved sides, position it, then stack the curved bowl light blue shade directly above.",
+    "Pick the dark inside bowl light blue outside, position the glazed bowl with curved sides, and place it over the dark inside bowl light blue outside.",
+    "Position the bowl with brown outer rim carefully on the dark inside bowl light blue outside.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl, set it down, then place the small bowl with brown edge over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "Stack the bowl with brown outer rim securely on top of the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Align the curved bowl light blue shade over the ceramic bowl, then complete the stack.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "With the right arm, lift the blue bowl and stack the rounded bowl with light blue color using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the medium-sized bowl for holding food on top.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Set the glazed bowl with curved sides over the blue bowl with slightly rounded base to create the stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the blue bowl with the left arm.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the rounded bowl with light blue color, align the blue bowl, and stack them.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the ceramic bowl and set the glazed bowl with curved sides on it.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the bowl with brown outer rim, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the medium-sized bowl for holding food, place the medium-sized bowl for holding food above, and let go.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode54.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode54.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96eb7fc1caf0734c57a55570a18122f9ad3c912
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode54.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick the bowl with shiny texture, position on the table, and place the blue bowl over it.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl on.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick the blue bowl, then stack the blue bowl with slightly rounded base on it.",
+    "Align the rounded bowl with light blue color and the blue bowl, then stack the blue bowl on the rounded bowl with light blue color.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture and stack the ceramic bowl securely onto it.",
+    "Set the glazed bowl with curved sides down, then add the glazed bowl with curved sides over it.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.",
+    "Pick the bowl with shiny texture, position the bowl with shiny texture, and place it over the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the bowl with shiny texture.",
+    "Stack the blue bowl securely on top of the ceramic bowl.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Pick up the ceramic bowl, grab the ceramic bowl, and stack the ceramic bowl on the ceramic bowl.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Take the ceramic bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the ceramic bowl on top.",
+    "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with shiny texture on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the medium-sized bowl for holding food above it.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the small bowl with brown edge, position the dark inside bowl light blue outside above it, and stack.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Put the glazed bowl with curved sides first, then bring the curved bowl light blue shade to stack above.",
+    "Take the ceramic bowl with earthy brown trim, align the glazed bowl with curved sides, and stack them.",
+    "Arrange the curved bowl light blue shade, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Place the blue bowl down, then set the bowl with shiny texture on top of the blue bowl.",
+    "Grab the bowl with brown outer rim, position it, and place the glazed bowl with curved sides on top.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Place the curved bowl light blue shade down and stack the small bowl with brown edge on top.",
+    "Position the curved bowl light blue shade carefully on the bowl with brown outer rim.",
+    "Take the bowl with shiny texture, place the blue bowl with slightly rounded base above, and let go.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with brown outer rim over it.",
+    "Pick up the blue bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Place the blue bowl down, then set the rounded bowl with light blue color above it.",
+    "Take the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside on top.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Hold the glazed bowl with curved sides steady and slide the small bowl with brown edge on.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick the dark inside bowl light blue outside, then stack the glazed bowl with curved sides on it.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Set the ceramic bowl down, then add the medium-sized bowl for holding food over it.",
+    "Hold the small bowl with brown edge and stack the curved bowl light blue shade neatly atop.",
+    "Pick the glazed bowl with curved sides, position the small bowl with brown edge, and place it over the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, grab the ceramic bowl, and set the ceramic bowl on the small bowl with brown edge.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "Pick up the glazed bowl with curved sides, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside with the right arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the small bowl with brown edge directly above.",
+    "Lift the glazed bowl with curved sides, then stack it on the blue bowl.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Lift the ceramic bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Position the curved bowl light blue shade, lift the blue bowl, and place the blue bowl on the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade and position it neatly over the bowl with shiny texture.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with the arm, then set the ceramic bowl above it.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the curved bowl light blue shade using the left arm.",
+    "Lift the dark inside bowl light blue outside, position the blue bowl above it, and stack.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the bowl with brown outer rim to stack above.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the blue bowl down, then set the ceramic bowl on top of the blue bowl.",
+    "Grab the glazed bowl with curved sides, position it, and place the small bowl with brown edge on top.",
+    "Align the glazed bowl with curved sides over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Pick up the small bowl with brown edge and set the small bowl with brown edge on it.",
+    "Grab the glazed bowl with curved sides, set it down, then place the small bowl with brown edge over it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Take the bowl with brown outer rim, place it, and stack the curved bowl light blue shade on top.",
+    "the dark inside bowl light blue outside goes at the bottom, the dark inside bowl light blue outside rests above."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode55.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode55.json
new file mode 100644
index 0000000000000000000000000000000000000000..56305f0fec5b6ae7d4d17c57f70f8877e81490e2
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode55.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the bowl with shiny texture over the rounded bowl with light blue color to create the stack.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Grab the bowl with brown outer rim, set it down, then place the small bowl with brown edge over it.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with shiny texture, and stack them.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the blue bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Position the blue bowl carefully on the medium-sized bowl for holding food.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the small bowl with brown edge using the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Align the ceramic bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the ceramic bowl.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Grab the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food down and stack the rounded bowl with light blue color on top.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim on top of the bowl with shiny texture.",
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top.",
+    "Place the curved bowl light blue shade down, then set the blue bowl above it.",
+    "Stack the curved bowl light blue shade securely on top of the glazed bowl with curved sides.",
+    "Align the medium-sized bowl for holding food over the bowl with brown outer rim, then complete the stack.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Hold the dark inside bowl light blue outside steady and slide the rounded bowl with light blue color on.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the blue bowl, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the rounded bowl with light blue color on top.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the small bowl with brown edge, position the bowl with shiny texture above it, and stack.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl over it.",
+    "Pick the small bowl with brown edge, then stack the ceramic bowl with earthy brown trim on it.",
+    "Pick the bowl with shiny texture, position the glazed bowl with curved sides, and place it over the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl, and set the ceramic bowl on the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the blue bowl using the right arm.",
+    "Put the ceramic bowl first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Set the dark inside bowl light blue outside over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Grab the small bowl with brown edge, set it down, then place the glazed bowl with curved sides over it.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the medium-sized bowl for holding food using the right arm.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.",
+    "Align the curved bowl light blue shade and the curved bowl light blue shade, then stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Grab the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on top.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Place the bowl with shiny texture down and stack the medium-sized bowl for holding food on top.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.",
+    "Take the blue bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Stack the ceramic bowl securely on top of the curved bowl light blue shade.",
+    "Align the ceramic bowl with earthy brown trim over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Hold the glazed bowl with curved sides steady and slide the bowl with shiny texture on.",
+    "Grab the bowl with shiny texture, position it, and place the glazed bowl with curved sides on top.",
+    "Take the dark inside bowl light blue outside, place the rounded bowl with light blue color above, and let go.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the rounded bowl with light blue color.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the bowl with brown outer rim above.",
+    "Lift the bowl with shiny texture, position the rounded bowl with light blue color above it, and stack.",
+    "Set the dark inside bowl light blue outside down, then add the bowl with brown outer rim over it.",
+    "Pick the medium-sized bowl for holding food, then stack the blue bowl on it.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Position the rounded bowl with light blue color with the arm, then set the ceramic bowl above it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the blue bowl using the right arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Put the dark inside bowl light blue outside first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl neatly atop.",
+    "Set the bowl with shiny texture over the curved bowl light blue shade to create the stack.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode56.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode56.json
new file mode 100644
index 0000000000000000000000000000000000000000..661a74579e93373988f42a851e9f3188dbb3b616
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode56.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the dark inside bowl light blue outside, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Take the bowl with brown outer rim, place the curved bowl light blue shade above, and let go.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Lift the rounded bowl with light blue color, position the blue bowl above it, and stack.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Set down the glazed bowl with curved sides and drop the bowl with shiny texture on top.",
+    "Take the bowl with brown outer rim, position it, then stack the small bowl with brown edge directly above.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the blue bowl with slightly rounded base using the right arm.",
+    "Set the bowl with shiny texture down, then add the blue bowl over it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the bowl with brown outer rim on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Use the left arm for the ceramic bowl, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Align the curved bowl light blue shade over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the ceramic bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the ceramic bowl.",
+    "Stack the blue bowl carefully over the ceramic bowl.",
+    "Lift the curved bowl light blue shade, grab the small bowl with brown edge, and set the small bowl with brown edge on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl on it.",
+    "Hold the blue bowl and stack the blue bowl neatly atop.",
+    "Take the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Place the medium-sized bowl for holding food down, then set the glazed bowl with curved sides above it.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Stack the blue bowl securely on top of the glazed bowl with curved sides.",
+    "Position the blue bowl with slightly rounded base carefully on the ceramic bowl.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with brown outer rim.",
+    "Place the bowl with shiny texture down and stack the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Arrange the dark inside bowl light blue outside, lift the ceramic bowl with the arm, and stack them.",
+    "Set the blue bowl with slightly rounded base over the medium-sized bowl for holding food to create the stack.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food on top of the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the dark inside bowl light blue outside, lift the bowl with shiny texture, and place the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Take the rounded bowl with light blue color, place the rounded bowl with light blue color above, and let go.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl with slightly rounded base on.",
+    "Pick the blue bowl with slightly rounded base, then stack the small bowl with brown edge on it.",
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl.",
+    "Set down the small bowl with brown edge and drop the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the right arm.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the glazed bowl with curved sides, then stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Use the left arm for the ceramic bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture over the small bowl with brown edge, then complete the stack.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, grab the bowl with shiny texture, and set the bowl with shiny texture on the small bowl with brown edge.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Take the small bowl with brown edge, align the glazed bowl with curved sides, and stack them.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl on it.",
+    "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, position the bowl with shiny texture, and place it over the glazed bowl with curved sides.",
+    "Align the bowl with shiny texture and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the blue bowl on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "Put the small bowl with brown edge first, then bring the rounded bowl with light blue color to stack above.",
+    "Stack the glazed bowl with curved sides securely on top of the ceramic bowl.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Place the blue bowl down and stack the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Arrange the medium-sized bowl for holding food, lift the blue bowl with the arm, and stack them.",
+    "Set the bowl with brown outer rim over the medium-sized bowl for holding food to create the stack.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides on top of the dark inside bowl light blue outside.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the blue bowl.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode57.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode57.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e322c1d74cff27803fd598052dcddb44b4ab99
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode57.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture, then stack it on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the curved bowl light blue shade over it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the blue bowl on.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food down and stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl on it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, then carefully place the small bowl with brown edge on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Lift the dark inside bowl light blue outside, position the bowl with brown outer rim above it, and stack.",
+    "Set down the dark inside bowl light blue outside and drop the glazed bowl with curved sides on top.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl over it.",
+    "Grab the blue bowl, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the small bowl with brown edge above it.",
+    "Take the medium-sized bowl for holding food, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Set the blue bowl over the dark inside bowl light blue outside to create the stack.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the right arm.",
+    "Grab the small bowl with brown edge, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food above it.",
+    "Hold the curved bowl light blue shade and stack the blue bowl neatly atop.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the curved bowl light blue shade directly above.",
+    "Position the ceramic bowl with earthy brown trim, lift the bowl with shiny texture, and place the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with brown outer rim to stack above.",
+    "Position the blue bowl carefully on the blue bowl with slightly rounded base.",
+    "Set the small bowl with brown edge down, then add the glazed bowl with curved sides over it.",
+    "Pick the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on it.",
+    "Lift the bowl with shiny texture, grab the bowl with shiny texture, and set the bowl with shiny texture on the bowl with shiny texture.",
+    "Align the small bowl with brown edge and the ceramic bowl, then stack the ceramic bowl on the small bowl with brown edge.",
+    "Stack the bowl with brown outer rim carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Lift the small bowl with brown edge, then stack it on the dark inside bowl light blue outside.",
+    "Grab the blue bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Hold the curved bowl light blue shade steady and slide the curved bowl light blue shade on.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base and set the blue bowl with slightly rounded base on it.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Stack the medium-sized bowl for holding food securely on top of the bowl with brown outer rim.",
+    "Grab the medium-sized bowl for holding food, then carefully place the curved bowl light blue shade on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.",
+    "Set down the glazed bowl with curved sides and drop the bowl with shiny texture on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the rounded bowl with light blue color, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge on top of the small bowl with brown edge.",
+    "Place the bowl with brown outer rim on the surface, then stack the blue bowl above it.",
+    "Take the curved bowl light blue shade, place the bowl with shiny texture above, and let go.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Align the ceramic bowl over the bowl with shiny texture, then complete the stack.",
+    "With the left arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the bowl with shiny texture, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the blue bowl, place it, and stack the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Arrange the small bowl with brown edge, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick the bowl with shiny texture, position the bowl with brown outer rim, and place it over the bowl with shiny texture.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on top.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base above it.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl neatly atop.",
+    "Take the blue bowl with slightly rounded base, align the small bowl with brown edge, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Position the bowl with shiny texture, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with shiny texture.",
+    "Put the bowl with brown outer rim first, then bring the medium-sized bowl for holding food to stack above.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl over it.",
+    "Pick the rounded bowl with light blue color, then stack the ceramic bowl on it.",
+    "Lift the bowl with shiny texture, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with brown outer rim.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode58.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode58.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4064a64c7d6393f1b3f853968215fd60aca7b9
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode58.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, lift the ceramic bowl and stack the ceramic bowl using the left arm.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Pick the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on it.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "Grab the blue bowl, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Place the bowl with shiny texture down, then set the curved bowl light blue shade on top of the bowl with shiny texture.",
+    "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the blue bowl and position it neatly over the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl and set the small bowl with brown edge on it.",
+    "Position the bowl with brown outer rim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Stack the rounded bowl with light blue color securely on top of the curved bowl light blue shade.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Hold the glazed bowl with curved sides steady and slide the glazed bowl with curved sides on.",
+    "Put the rounded bowl with light blue color first, then bring the medium-sized bowl for holding food to stack above.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.",
+    "Set the bowl with shiny texture down, then add the medium-sized bowl for holding food over it.",
+    "Set the rounded bowl with light blue color over the bowl with shiny texture to create the stack.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl on top.",
+    "Lift the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Grab the small bowl with brown edge, then stack the blue bowl on top.",
+    "Place the curved bowl light blue shade down and stack the rounded bowl with light blue color on top.",
+    "Take the ceramic bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Place the small bowl with brown edge on the surface, then stack the glazed bowl with curved sides above it.",
+    "Align the curved bowl light blue shade over the rounded bowl with light blue color, then complete the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the curved bowl light blue shade on top.",
+    "Lift the blue bowl, then stack it on the glazed bowl with curved sides.",
+    "Take the blue bowl, place it, and stack the glazed bowl with curved sides on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Align the small bowl with brown edge and the bowl with shiny texture, then stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Place the rounded bowl with light blue color down, then set the bowl with shiny texture above it.",
+    "Position the rounded bowl with light blue color carefully on the rounded bowl with light blue color.",
+    "Pick the ceramic bowl, position the rounded bowl with light blue color, and place it over the ceramic bowl.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with shiny texture on top.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl rests above.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with shiny texture over it.",
+    "Position the bowl with shiny texture with the arm, then set the dark inside bowl light blue outside above it.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Pick the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on it.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the blue bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge on top of the bowl with shiny texture.",
+    "Position the rounded bowl with light blue color and stack the blue bowl securely onto it.",
+    "Lift the blue bowl and position it neatly over the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge and set the ceramic bowl with earthy brown trim on it.",
+    "Position the bowl with brown outer rim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Hold the small bowl with brown edge steady and slide the blue bowl with slightly rounded base on.",
+    "Put the rounded bowl with light blue color first, then bring the blue bowl to stack above.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the bowl with shiny texture over it.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the curved bowl light blue shade on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with shiny texture over it.",
+    "Set the dark inside bowl light blue outside over the dark inside bowl light blue outside to create the stack.",
+    "Grasp the blue bowl, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick up the blue bowl, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl.",
+    "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the curved bowl light blue shade on top.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl, and set the blue bowl on the blue bowl with slightly rounded base.",
+    "Grab the blue bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Take the curved bowl light blue shade, position it, then stack the small bowl with brown edge directly above.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the rounded bowl with light blue color above it.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with shiny texture on top.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides on top.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Align the dark inside bowl light blue outside and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the bowl with brown outer rim down, then set the dark inside bowl light blue outside above it.",
+    "Position the bowl with shiny texture carefully on the blue bowl.",
+    "Pick the bowl with shiny texture, position the dark inside bowl light blue outside, and place it over the bowl with shiny texture.",
+    "Set down the rounded bowl with light blue color and drop the bowl with brown outer rim on top.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl neatly atop.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the glazed bowl with curved sides with the arm, then set the curved bowl light blue shade above it.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode59.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode59.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f063b1e40983214b5dafb72c0e026b5e8f858a6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode59.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the small bowl with brown edge and stack the bowl with shiny texture using the right arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the small bowl with brown edge on top.",
+    "Set down the ceramic bowl with earthy brown trim and drop the blue bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the bowl with shiny texture on top.",
+    "Hold the ceramic bowl steady and slide the bowl with shiny texture on.",
+    "Arrange the glazed bowl with curved sides, lift the ceramic bowl with the arm, and stack them.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Align the curved bowl light blue shade and the bowl with brown outer rim, then stack the bowl with brown outer rim on the curved bowl light blue shade.",
+    "Hold the ceramic bowl with earthy brown trim and stack the dark inside bowl light blue outside neatly atop.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Position the blue bowl with slightly rounded base and stack the rounded bowl with light blue color securely onto it.",
+    "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Grab the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Set the blue bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Pick the ceramic bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Use the left arm for the ceramic bowl, place it, and stack the curved bowl light blue shade with the right arm.",
+    "the bowl with brown outer rim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the dark inside bowl light blue outside, then carefully place the ceramic bowl on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Set the bowl with brown outer rim down, then add the dark inside bowl light blue outside over it.",
+    "Place the blue bowl down, then set the bowl with brown outer rim above it.",
+    "Grab the bowl with shiny texture, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Stack the blue bowl with slightly rounded base securely on top of the rounded bowl with light blue color.",
+    "Lift the bowl with shiny texture and position it neatly over the blue bowl.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with shiny texture over it.",
+    "Position the small bowl with brown edge, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Take the ceramic bowl with earthy brown trim, place the blue bowl with slightly rounded base above, and let go.",
+    "Pick the blue bowl, then stack the bowl with brown outer rim on it.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the rounded bowl with light blue color on top.",
+    "With the left arm, lift the bowl with brown outer rim and stack the bowl with shiny texture using the right arm.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl to stack above.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Place the ceramic bowl on the surface, then stack the curved bowl light blue shade above it.",
+    "Pick up the bowl with brown outer rim and set the rounded bowl with light blue color on it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Pick the curved bowl light blue shade, position the blue bowl with slightly rounded base, and place it over the curved bowl light blue shade.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Set down the rounded bowl with light blue color and drop the small bowl with brown edge on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with brown outer rim on top.",
+    "Hold the small bowl with brown edge steady and slide the medium-sized bowl for holding food on.",
+    "Arrange the small bowl with brown edge, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Align the glazed bowl with curved sides and the blue bowl, then stack the blue bowl on the glazed bowl with curved sides.",
+    "Hold the bowl with brown outer rim and stack the small bowl with brown edge neatly atop.",
+    "Position the rounded bowl with light blue color with the arm, then set the rounded bowl with light blue color above it.",
+    "Stack the blue bowl carefully over the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the dark inside bowl light blue outside and stack the curved bowl light blue shade securely onto it.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade, then stack it on the blue bowl.",
+    "Place the dark inside bowl light blue outside down and stack the curved bowl light blue shade on top.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Align the glazed bowl with curved sides over the rounded bowl with light blue color, then complete the stack.",
+    "Take the bowl with brown outer rim, place it, and stack the dark inside bowl light blue outside on top.",
+    "Set the blue bowl over the ceramic bowl with earthy brown trim to create the stack.",
+    "Pick the small bowl with brown edge, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grab the blue bowl with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Pick up the ceramic bowl using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, then carefully place the medium-sized bowl for holding food on top.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the bowl with brown outer rim.",
+    "Set the medium-sized bowl for holding food down, then add the medium-sized bowl for holding food over it.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl, and stack them.",
+    "Stack the ceramic bowl securely on top of the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge and position it neatly over the rounded bowl with light blue color.",
+    "Grab the curved bowl light blue shade, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the dark inside bowl light blue outside, lift the bowl with shiny texture, and place the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with shiny texture, and set the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the dark inside bowl light blue outside on top.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food using the right arm.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode6.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode6.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3733761ad78a4d394e881eb8ba52f0deaca43e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode6.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "the bowl with brown outer rim goes at the bottom, the blue bowl rests above.",
+    "Align the dark inside bowl light blue outside and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the small bowl with brown edge on top.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the curved bowl light blue shade, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Pick up the rounded bowl with light blue color and set the curved bowl light blue shade on it.",
+    "Set down the blue bowl with slightly rounded base and drop the dark inside bowl light blue outside on top.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the ceramic bowl using the left arm.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the ceramic bowl on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with shiny texture over it.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl with slightly rounded base on.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl to create the stack.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl.",
+    "Take the blue bowl, position it, then stack the blue bowl directly above.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl above it.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Hold the small bowl with brown edge and stack the small bowl with brown edge neatly atop.",
+    "Place the rounded bowl with light blue color on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl on top of the medium-sized bowl for holding food.",
+    "Place the ceramic bowl down and stack the small bowl with brown edge on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the medium-sized bowl for holding food over it.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl, and stack them.",
+    "Position the medium-sized bowl for holding food carefully on the small bowl with brown edge.",
+    "Align the medium-sized bowl for holding food over the bowl with brown outer rim, then complete the stack.",
+    "Take the bowl with brown outer rim, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the medium-sized bowl for holding food, then stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl.",
+    "Pick the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on it.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Pick the small bowl with brown edge, position the bowl with brown outer rim, and place it over the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture above it.",
+    "Put the ceramic bowl first, then bring the small bowl with brown edge to stack above.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "With the right arm, lift the blue bowl and stack the small bowl with brown edge using the left arm.",
+    "the blue bowl with slightly rounded base goes at the bottom, the bowl with brown outer rim rests above.",
+    "Align the blue bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the blue bowl.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl.",
+    "Use the arm to place the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the small bowl with brown edge with the left arm.",
+    "Position the ceramic bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the ceramic bowl above.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Set down the blue bowl with slightly rounded base and drop the ceramic bowl on top.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with brown outer rim on top.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the blue bowl using the left arm.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the small bowl with brown edge over it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the glazed bowl with curved sides directly above.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the curved bowl light blue shade, grab the bowl with shiny texture, and set the bowl with shiny texture on the curved bowl light blue shade.",
+    "Hold the dark inside bowl light blue outside and stack the glazed bowl with curved sides neatly atop.",
+    "Place the bowl with shiny texture on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color on top of the ceramic bowl.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Align the curved bowl light blue shade over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl on it.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick the bowl with brown outer rim, position the bowl with brown outer rim, and place it over the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Put the small bowl with brown edge first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the bowl with brown outer rim and position it neatly over the glazed bowl with curved sides.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the curved bowl light blue shade using the left arm."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode60.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode60.json
new file mode 100644
index 0000000000000000000000000000000000000000..236653b677a10040dbf7ef5d405986127f791a00
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode60.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the blue bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the ceramic bowl with the arm, then set the bowl with shiny texture above it.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Set the medium-sized bowl for holding food down, then add the dark inside bowl light blue outside over it.",
+    "Set the ceramic bowl over the bowl with brown outer rim to create the stack.",
+    "Grab the dark inside bowl light blue outside, position it, and place the small bowl with brown edge on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the medium-sized bowl for holding food.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the blue bowl, place it down, then position the blue bowl on top.",
+    "Lift the blue bowl, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl, and place it over the medium-sized bowl for holding food.",
+    "Set down the bowl with shiny texture and drop the dark inside bowl light blue outside on top.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Take the bowl with brown outer rim, align the rounded bowl with light blue color, and stack them.",
+    "Pick up the medium-sized bowl for holding food and set the bowl with shiny texture on it.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with brown outer rim on top of the blue bowl with slightly rounded base.",
+    "Grab the medium-sized bowl for holding food, then stack the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Position the ceramic bowl and stack the blue bowl securely onto it.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the medium-sized bowl for holding food on it.",
+    "Lift the blue bowl and position it neatly over the bowl with shiny texture.",
+    "Pick the bowl with shiny texture, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with shiny texture neatly atop.",
+    "Use the arm to place the curved bowl light blue shade, then stack the bowl with shiny texture on top.",
+    "Grab the small bowl with brown edge, then carefully place the blue bowl on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl.",
+    "Lift the bowl with shiny texture, position the bowl with shiny texture above it, and stack.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides above it.",
+    "Align the blue bowl with slightly rounded base and the curved bowl light blue shade, then stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Use the right arm for the ceramic bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "the medium-sized bowl for holding food goes at the bottom, the ceramic bowl rests above.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with shiny texture.",
+    "Arrange the bowl with brown outer rim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the bowl with shiny texture.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with brown outer rim above it.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Set the glazed bowl with curved sides down, then add the rounded bowl with light blue color over it.",
+    "Set the glazed bowl with curved sides over the blue bowl to create the stack.",
+    "Grab the curved bowl light blue shade, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the rounded bowl with light blue color over it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl on top.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with shiny texture, and stack them.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with shiny texture.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the bowl with shiny texture on top.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Take the blue bowl, align the small bowl with brown edge, and stack them.",
+    "Pick up the rounded bowl with light blue color and set the bowl with shiny texture on it.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim on top of the small bowl with brown edge.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Pick the blue bowl with slightly rounded base, then stack the bowl with brown outer rim on it.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the rounded bowl with light blue color.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Align the ceramic bowl over the bowl with brown outer rim, then complete the stack.",
+    "Hold the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim neatly atop.",
+    "Use the arm to place the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Pick up the blue bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Align the bowl with brown outer rim and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with brown outer rim.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Hold the bowl with shiny texture steady and slide the bowl with shiny texture on.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode61.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode61.json
new file mode 100644
index 0000000000000000000000000000000000000000..a233fd2bbbd68808f1c701a7b5b15ce9075e92fc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode61.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Position the bowl with shiny texture, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the ceramic bowl, then stack the ceramic bowl on top.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with shiny texture directly above.",
+    "Place the ceramic bowl down and stack the glazed bowl with curved sides on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Pick the small bowl with brown edge, position the small bowl with brown edge, and place it over the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the bowl with shiny texture.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, position the ceramic bowl above it, and stack.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with the right arm.",
+    "Align the bowl with shiny texture over the bowl with shiny texture, then complete the stack.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Align the rounded bowl with light blue color and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Pick up the ceramic bowl and set the medium-sized bowl for holding food on it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the small bowl with brown edge on top.",
+    "Hold the ceramic bowl and stack the curved bowl light blue shade neatly atop.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Set the rounded bowl with light blue color over the blue bowl to create the stack.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the glazed bowl with curved sides over it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Pick up the small bowl with brown edge, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl and position it neatly over the glazed bowl with curved sides.",
+    "With the left arm, lift the bowl with brown outer rim and stack the ceramic bowl using the right arm.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the ceramic bowl using the right arm.",
+    "Pick the ceramic bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Pick up the blue bowl, place it down, then position the small bowl with brown edge on top.",
+    "Position the dark inside bowl light blue outside and stack the dark inside bowl light blue outside securely onto it.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Place the blue bowl with slightly rounded base down, then set the curved bowl light blue shade above it.",
+    "Pick the blue bowl, then stack the curved bowl light blue shade on it.",
+    "Arrange the small bowl with brown edge, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Take the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with brown outer rim above.",
+    "Grab the rounded bowl with light blue color, then carefully place the dark inside bowl light blue outside on top.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with brown outer rim above it.",
+    "Take the dark inside bowl light blue outside, place the curved bowl light blue shade above, and let go.",
+    "Position the bowl with shiny texture, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the glazed bowl with curved sides directly above.",
+    "Place the rounded bowl with light blue color down and stack the curved bowl light blue shade on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the bowl with shiny texture, position the ceramic bowl, and place it over the bowl with shiny texture.",
+    "Lift the bowl with shiny texture, then stack it on the medium-sized bowl for holding food.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, position the curved bowl light blue shade above it, and stack.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Stack the small bowl with brown edge securely on top of the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.",
+    "Align the bowl with brown outer rim and the ceramic bowl, then stack the ceramic bowl on the bowl with brown outer rim.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl on it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with brown outer rim on top.",
+    "Hold the bowl with brown outer rim and stack the blue bowl neatly atop.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the bowl with shiny texture, and stack them.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the rounded bowl with light blue color above it.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Set the rounded bowl with light blue color over the blue bowl to create the stack.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the glazed bowl with curved sides over it.",
+    "Stack the bowl with brown outer rim carefully over the blue bowl with slightly rounded base.",
+    "Pick up the small bowl with brown edge, grab the small bowl with brown edge, and stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the blue bowl over it.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the bowl with brown outer rim on top.",
+    "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.",
+    "Hold the bowl with shiny texture steady and slide the medium-sized bowl for holding food on.",
+    "Put the ceramic bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl above it.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl above.",
+    "Grab the ceramic bowl, then carefully place the curved bowl light blue shade on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl above it.",
+    "Take the bowl with shiny texture, place the medium-sized bowl for holding food above, and let go.",
+    "Position the curved bowl light blue shade, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode62.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode62.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ae5f8c42413dfe025443de8c64953c61814bbf
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode62.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the bowl with brown outer rim and set the blue bowl on it.",
+    "Align the bowl with brown outer rim over the small bowl with brown edge, then complete the stack.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge on top of the medium-sized bowl for holding food.",
+    "Place the blue bowl with slightly rounded base down and stack the medium-sized bowl for holding food on top.",
+    "Position the medium-sized bowl for holding food with the arm, then set the blue bowl above it.",
+    "Set the curved bowl light blue shade over the blue bowl with slightly rounded base to create the stack.",
+    "Place the small bowl with brown edge down, then set the bowl with brown outer rim above it.",
+    "the blue bowl goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Set the glazed bowl with curved sides down, then add the medium-sized bowl for holding food over it.",
+    "Position the bowl with brown outer rim and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the small bowl with brown edge, position the blue bowl above it, and stack.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Pick the bowl with shiny texture, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the glazed bowl with curved sides, then stack it on the medium-sized bowl for holding food.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Use the arm to place the bowl with shiny texture, then stack the medium-sized bowl for holding food on top.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the right arm.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl above.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the curved bowl light blue shade steady and slide the curved bowl light blue shade on.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with brown outer rim.",
+    "Take the bowl with shiny texture, align the bowl with brown outer rim, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Put the blue bowl first, then bring the medium-sized bowl for holding food to stack above.",
+    "Take the rounded bowl with light blue color, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim carefully on the blue bowl.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set down the ceramic bowl with earthy brown trim and drop the small bowl with brown edge on top.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the medium-sized bowl for holding food on top.",
+    "Arrange the rounded bowl with light blue color, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Align the curved bowl light blue shade over the blue bowl, then complete the stack.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the ceramic bowl using the right arm.",
+    "Pick the curved bowl light blue shade, then stack the curved bowl light blue shade on it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Position the bowl with brown outer rim with the arm, then set the glazed bowl with curved sides above it.",
+    "Set the small bowl with brown edge over the ceramic bowl to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl above it.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "Position the bowl with brown outer rim and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the dark inside bowl light blue outside, position the medium-sized bowl for holding food above it, and stack.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the medium-sized bowl for holding food, then stack it on the rounded bowl with light blue color.",
+    "Grab the rounded bowl with light blue color, position it, and place the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl with slightly rounded base on top.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the bowl with brown outer rim using the right arm.",
+    "Lift the blue bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the blue bowl, put it on the table, and stack the small bowl with brown edge above.",
+    "Hold the blue bowl and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the curved bowl light blue shade and position it neatly over the curved bowl light blue shade.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the small bowl with brown edge on top.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl on.",
+    "Pick the ceramic bowl with earthy brown trim, position the small bowl with brown edge, and place it over the ceramic bowl with earthy brown trim.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl to stack above.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Take the rounded bowl with light blue color, place it, and stack the ceramic bowl on top.",
+    "Position the curved bowl light blue shade carefully on the blue bowl.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl, and set the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Position the small bowl with brown edge, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Set down the small bowl with brown edge and drop the blue bowl on top.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode63.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode63.json
new file mode 100644
index 0000000000000000000000000000000000000000..f44148a8b362a9bf3c9585a03f0023690b299fff
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode63.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Place the ceramic bowl down and stack the bowl with shiny texture on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl on top.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, then carefully place the ceramic bowl on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, align the ceramic bowl, and stack them.",
+    "Pick up the curved bowl light blue shade and set the glazed bowl with curved sides on it.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the small bowl with brown edge, set it down, then place the dark inside bowl light blue outside over it.",
+    "Put the blue bowl first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick the blue bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the small bowl with brown edge above it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the bowl with brown outer rim.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with brown outer rim above it.",
+    "Pick up the curved bowl light blue shade, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Grab the small bowl with brown edge, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Take the ceramic bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Hold the small bowl with brown edge and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the bowl with brown outer rim, then stack it on the ceramic bowl.",
+    "Pick the rounded bowl with light blue color, position the glazed bowl with curved sides, and place it over the rounded bowl with light blue color.",
+    "Arrange the ceramic bowl, lift the ceramic bowl with the arm, and stack them.",
+    "Take the rounded bowl with light blue color, place the medium-sized bowl for holding food above, and let go.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture on top of the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Set the rounded bowl with light blue color down, then add the small bowl with brown edge over it.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl with slightly rounded base on top.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.",
+    "Pick up the ceramic bowl, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "Position the medium-sized bowl for holding food and stack the bowl with brown outer rim securely onto it.",
+    "Lift the blue bowl with slightly rounded base, position the glazed bowl with curved sides above it, and stack.",
+    "Set the bowl with shiny texture over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Place the bowl with shiny texture down, then set the bowl with shiny texture above it.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the blue bowl using the left arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Hold the bowl with brown outer rim steady and slide the blue bowl on.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Align the bowl with brown outer rim over the glazed bowl with curved sides, then complete the stack.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the blue bowl above.",
+    "Place the rounded bowl with light blue color down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Set down the medium-sized bowl for holding food and drop the small bowl with brown edge on top.",
+    "Use the right arm for the blue bowl, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the glazed bowl with curved sides.",
+    "Grab the small bowl with brown edge, then carefully place the curved bowl light blue shade on top.",
+    "With the right arm, lift the blue bowl and stack the blue bowl using the left arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the blue bowl.",
+    "Take the blue bowl with slightly rounded base, align the bowl with brown outer rim, and stack them.",
+    "Pick up the small bowl with brown edge and set the medium-sized bowl for holding food on it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl to stack above.",
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the rounded bowl with light blue color.",
+    "the rounded bowl with light blue color goes at the bottom, the curved bowl light blue shade rests above.",
+    "Position the dark inside bowl light blue outside with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Grab the glazed bowl with curved sides, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Take the rounded bowl with light blue color, position it, then stack the curved bowl light blue shade directly above.",
+    "Hold the bowl with brown outer rim and stack the curved bowl light blue shade neatly atop.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl.",
+    "Pick the ceramic bowl, position the blue bowl with slightly rounded base, and place it over the ceramic bowl.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with the arm, and stack them.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides on top of the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Take the ceramic bowl, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl carefully on the dark inside bowl light blue outside.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the small bowl with brown edge, place it down, then position the ceramic bowl on top.",
+    "Position the medium-sized bowl for holding food, lift the blue bowl, and place the blue bowl on the medium-sized bowl for holding food.",
+    "Position the blue bowl and stack the blue bowl securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color above it, and stack.",
+    "Set the dark inside bowl light blue outside over the blue bowl to create the stack.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the bowl with shiny texture on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl with earthy brown trim on.",
+    "Pick the blue bowl, then stack the glazed bowl with curved sides on it.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Align the ceramic bowl with earthy brown trim and the bowl with brown outer rim, then stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Align the medium-sized bowl for holding food over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode64.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode64.json
new file mode 100644
index 0000000000000000000000000000000000000000..964b1e57c9a53b3539dba0de26f910080dfa74e4
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode64.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the dark inside bowl light blue outside and stack the bowl with shiny texture securely onto it.",
+    "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with brown outer rim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Take the bowl with shiny texture, align the ceramic bowl, and stack them.",
+    "Take the ceramic bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the blue bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the glazed bowl with curved sides on top.",
+    "the blue bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.",
+    "Place the bowl with brown outer rim down and stack the dark inside bowl light blue outside on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl, and place it over the dark inside bowl light blue outside.",
+    "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the rounded bowl with light blue color on top.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl over it.",
+    "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Hold the bowl with shiny texture and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the bowl with shiny texture, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the curved bowl light blue shade on top.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Stack the small bowl with brown edge securely on top of the small bowl with brown edge.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "Lift the blue bowl, then stack it on the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl using the left arm.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl over it.",
+    "Position the blue bowl with slightly rounded base carefully on the blue bowl with slightly rounded base.",
+    "Put the bowl with shiny texture first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the dark inside bowl light blue outside using the left arm.",
+    "Set down the medium-sized bowl for holding food and drop the bowl with brown outer rim on top.",
+    "Pick the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on it.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Align the small bowl with brown edge and the bowl with brown outer rim, then stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, position the dark inside bowl light blue outside above it, and stack.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Arrange the rounded bowl with light blue color, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Hold the blue bowl steady and slide the ceramic bowl on.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food securely onto it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with shiny texture over it.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl with earthy brown trim on top of the rounded bowl with light blue color.",
+    "Lift the medium-sized bowl for holding food, grab the small bowl with brown edge, and set the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, align the dark inside bowl light blue outside, and stack them.",
+    "Take the small bowl with brown edge, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the bowl with brown outer rim, place it, and stack the glazed bowl with curved sides on top.",
+    "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Set the rounded bowl with light blue color over the small bowl with brown edge to create the stack.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Pick the dark inside bowl light blue outside, position the curved bowl light blue shade, and place it over the dark inside bowl light blue outside.",
+    "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, then carefully place the ceramic bowl on top.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the curved bowl light blue shade over it.",
+    "Stack the blue bowl with slightly rounded base carefully over the curved bowl light blue shade.",
+    "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Lift the small bowl with brown edge and position it neatly over the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Hold the rounded bowl with light blue color and stack the bowl with brown outer rim neatly atop.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl, place it down, then position the bowl with brown outer rim on top.",
+    "Pick up the bowl with shiny texture and set the blue bowl with slightly rounded base on it.",
+    "Stack the glazed bowl with curved sides securely on top of the small bowl with brown edge.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl above it.",
+    "Lift the bowl with brown outer rim, then stack it on the bowl with shiny texture.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Grab the small bowl with brown edge, set it down, then place the bowl with brown outer rim over it.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the dark inside bowl light blue outside using the left arm.",
+    "Set down the curved bowl light blue shade and drop the bowl with brown outer rim on top.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Align the ceramic bowl with earthy brown trim and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Align the rounded bowl with light blue color over the glazed bowl with curved sides, then complete the stack.",
+    "Arrange the small bowl with brown edge, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Hold the glazed bowl with curved sides steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the ceramic bowl and stack the bowl with brown outer rim securely onto it."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode65.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode65.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c9bc6a4a93315acca47c040ce1c8d3205d73d0
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode65.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small bowl with brown edge, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the bowl with brown outer rim on top.",
+    "Hold the medium-sized bowl for holding food and stack the ceramic bowl neatly atop.",
+    "Take the medium-sized bowl for holding food, place it, and stack the dark inside bowl light blue outside on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the small bowl with brown edge.",
+    "Lift the rounded bowl with light blue color, position the ceramic bowl above it, and stack.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the ceramic bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the right arm.",
+    "Position the small bowl with brown edge and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Arrange the ceramic bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the blue bowl, put it on the table, and stack the curved bowl light blue shade above.",
+    "the ceramic bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Align the small bowl with brown edge over the curved bowl light blue shade, then complete the stack.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl over it.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the blue bowl, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Pick up the small bowl with brown edge, grab the blue bowl, and stack the blue bowl on the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Hold the ceramic bowl steady and slide the ceramic bowl on.",
+    "Set the bowl with shiny texture down, then add the bowl with shiny texture over it.",
+    "Pick up the medium-sized bowl for holding food and set the medium-sized bowl for holding food on it.",
+    "Take the bowl with shiny texture, place the dark inside bowl light blue outside above, and let go.",
+    "Pick up the blue bowl using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the ceramic bowl, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Set the bowl with shiny texture over the curved bowl light blue shade to create the stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim on top of the ceramic bowl with earthy brown trim.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl.",
+    "Set down the small bowl with brown edge and drop the ceramic bowl on top.",
+    "Position the blue bowl carefully on the blue bowl.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl with earthy brown trim.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.",
+    "Position the ceramic bowl, lift the blue bowl, and place the blue bowl on the ceramic bowl.",
+    "Place the blue bowl with slightly rounded base down and stack the medium-sized bowl for holding food on top.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Pick the bowl with brown outer rim, position the blue bowl with slightly rounded base, and place it over the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides on the surface, then stack the bowl with shiny texture above it.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with shiny texture on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the glazed bowl with curved sides using the right arm.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the small bowl with brown edge, position it, and place the dark inside bowl light blue outside on top.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade, position the medium-sized bowl for holding food above it, and stack.",
+    "Position the medium-sized bowl for holding food with the arm, then set the medium-sized bowl for holding food above it.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl using the right arm.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the bowl with brown outer rim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the bowl with brown outer rim.",
+    "Pick the blue bowl, then stack the medium-sized bowl for holding food on it.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the dark inside bowl light blue outside and the bowl with brown outer rim, then stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Align the medium-sized bowl for holding food over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the blue bowl, then stack it on the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base above it.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the ceramic bowl on top.",
+    "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the dark inside bowl light blue outside on.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the ceramic bowl using the right arm.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with shiny texture with the right arm.",
+    "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Place the ceramic bowl down, then set the ceramic bowl on top of the ceramic bowl.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Set down the bowl with brown outer rim and drop the curved bowl light blue shade on top.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with shiny texture.",
+    "Stack the bowl with brown outer rim carefully over the bowl with shiny texture.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl over it.",
+    "Position the glazed bowl with curved sides, lift the ceramic bowl, and place the ceramic bowl on the glazed bowl with curved sides.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.",
+    "Place the bowl with brown outer rim on the surface, then stack the ceramic bowl above it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the blue bowl on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Lift the ceramic bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode66.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode66.json
new file mode 100644
index 0000000000000000000000000000000000000000..48faa421d22c4c796ad8c89d1c7c31b2a00c7e14
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode66.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the blue bowl and stack the bowl with shiny texture using the right arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the bowl with shiny texture on it.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl, position the small bowl with brown edge, and place it over the ceramic bowl.",
+    "Pick up the blue bowl, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the blue bowl.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Arrange the blue bowl, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the bowl with shiny texture and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color on top of the rounded bowl with light blue color.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge with the right arm.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl with slightly rounded base on.",
+    "Take the blue bowl, place it, and stack the blue bowl on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Put the dark inside bowl light blue outside first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the bowl with brown outer rim, set it down, then place the curved bowl light blue shade over it.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Align the dark inside bowl light blue outside and the curved bowl light blue shade, then stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down and stack the ceramic bowl on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Position the glazed bowl with curved sides carefully on the bowl with brown outer rim.",
+    "Place the bowl with brown outer rim down, then set the glazed bowl with curved sides above it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with brown outer rim over it.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Hold the bowl with shiny texture and stack the curved bowl light blue shade neatly atop.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Set the dark inside bowl light blue outside over the bowl with brown outer rim to create the stack.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the blue bowl directly above.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Align the ceramic bowl with earthy brown trim over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the blue bowl.",
+    "Place the curved bowl light blue shade on the surface, then stack the ceramic bowl above it.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the bowl with shiny texture, then carefully place the small bowl with brown edge on top.",
+    "Set the blue bowl with slightly rounded base down, then add the bowl with shiny texture over it.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the blue bowl using the right arm.",
+    "the dark inside bowl light blue outside goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Lift the glazed bowl with curved sides and position it neatly over the ceramic bowl.",
+    "With the left arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the small bowl with brown edge and set the bowl with shiny texture on it.",
+    "Lift the medium-sized bowl for holding food, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Position the bowl with shiny texture with the arm, then set the rounded bowl with light blue color above it.",
+    "Arrange the dark inside bowl light blue outside, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Grab the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the curved bowl light blue shade on top.",
+    "Position the ceramic bowl and stack the glazed bowl with curved sides securely onto it.",
+    "Stack the blue bowl securely on top of the bowl with brown outer rim.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides on top of the small bowl with brown edge.",
+    "Use the left arm for the ceramic bowl, place it, and stack the blue bowl with the right arm.",
+    "Hold the dark inside bowl light blue outside steady and slide the ceramic bowl on.",
+    "Take the ceramic bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Put the bowl with shiny texture first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the glazed bowl with curved sides, set it down, then place the ceramic bowl over it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with shiny texture.",
+    "Align the curved bowl light blue shade and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Place the bowl with shiny texture down and stack the bowl with shiny texture on top.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Position the blue bowl carefully on the rounded bowl with light blue color.",
+    "Place the blue bowl down, then set the ceramic bowl above it.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the curved bowl light blue shade on top.",
+    "Set the small bowl with brown edge over the bowl with shiny texture to create the stack.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the bowl with brown outer rim, position the bowl with shiny texture above it, and stack.",
+    "Align the ceramic bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Place the small bowl with brown edge on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the dark inside bowl light blue outside, then carefully place the small bowl with brown edge on top.",
+    "Set the ceramic bowl down, then add the bowl with shiny texture over it.",
+    "Grab the ceramic bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl on top.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "the bowl with brown outer rim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "With the left arm, lift the bowl with brown outer rim and stack the curved bowl light blue shade using the right arm.",
+    "Pick up the medium-sized bowl for holding food and set the glazed bowl with curved sides on it."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode67.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode67.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ee4ff420907c72e0bd4979b04290275754434e7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode67.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Position the blue bowl and stack the small bowl with brown edge securely onto it.",
+    "Grab the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Pick the curved bowl light blue shade, position the ceramic bowl, and place it over the curved bowl light blue shade.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the bowl with shiny texture, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with shiny texture.",
+    "Align the medium-sized bowl for holding food over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick up the ceramic bowl with earthy brown trim and set the glazed bowl with curved sides on it.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Position the dark inside bowl light blue outside with the arm, then set the dark inside bowl light blue outside above it.",
+    "Align the small bowl with brown edge and the blue bowl, then stack the blue bowl on the small bowl with brown edge.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the bowl with shiny texture on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl with slightly rounded base.",
+    "Pick the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on it.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the bowl with brown outer rim over it.",
+    "Stack the dark inside bowl light blue outside securely on top of the medium-sized bowl for holding food.",
+    "Take the bowl with brown outer rim, place the glazed bowl with curved sides above, and let go.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set down the dark inside bowl light blue outside and drop the small bowl with brown edge on top.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl over it.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it.",
+    "Use the arm to place the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl, and stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside using the right arm.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the right arm.",
+    "Put the glazed bowl with curved sides first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the glazed bowl with curved sides, grab the blue bowl, and set the blue bowl on the glazed bowl with curved sides.",
+    "the dark inside bowl light blue outside goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the small bowl with brown edge on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Place the blue bowl down, then set the small bowl with brown edge on top of the blue bowl.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Hold the bowl with shiny texture and stack the bowl with brown outer rim neatly atop.",
+    "Pick up the blue bowl using the right arm, then stack the bowl with brown outer rim using the right arm.",
+    "Lift the dark inside bowl light blue outside, then stack it on the bowl with brown outer rim.",
+    "Set the blue bowl over the blue bowl to create the stack.",
+    "Lift the bowl with shiny texture, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with brown outer rim on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Grab the bowl with shiny texture, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Place the rounded bowl with light blue color down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Position the bowl with brown outer rim and stack the blue bowl securely onto it.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Pick the rounded bowl with light blue color, position the rounded bowl with light blue color, and place it over the rounded bowl with light blue color.",
+    "Take the small bowl with brown edge, align the rounded bowl with light blue color, and stack them.",
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Align the blue bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick up the bowl with shiny texture and set the bowl with shiny texture on it.",
+    "Hold the rounded bowl with light blue color steady and slide the ceramic bowl on.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Align the rounded bowl with light blue color and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the blue bowl using the right arm.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Position the blue bowl carefully on the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, then stack the blue bowl on it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Take the bowl with brown outer rim, place the ceramic bowl above, and let go.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Set down the medium-sized bowl for holding food and drop the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the curved bowl light blue shade.",
+    "Set the dark inside bowl light blue outside down, then add the ceramic bowl over it.",
+    "Place the curved bowl light blue shade down, then set the bowl with shiny texture above it.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with brown outer rim on top.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the rounded bowl with light blue color using the right arm.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the ceramic bowl with the right arm.",
+    "Put the medium-sized bowl for holding food first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the bowl with shiny texture, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with shiny texture.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl rests above.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.",
+    "Take the small bowl with brown edge, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the ceramic bowl above.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Stack the small bowl with brown edge carefully over the glazed bowl with curved sides.",
+    "Hold the bowl with shiny texture and stack the small bowl with brown edge neatly atop.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl using the right arm.",
+    "Lift the bowl with brown outer rim, then stack it on the bowl with shiny texture.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "Lift the ceramic bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the bowl with shiny texture, then carefully place the rounded bowl with light blue color on top.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the glazed bowl with curved sides.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode68.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode68.json
new file mode 100644
index 0000000000000000000000000000000000000000..f429e31577bc1bab72627f9698f3c40f06daa688
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode68.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Stack the glazed bowl with curved sides carefully over the blue bowl with slightly rounded base.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the curved bowl light blue shade on top.",
+    "Grab the blue bowl with slightly rounded base with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Align the bowl with brown outer rim and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the small bowl with brown edge above it.",
+    "Hold the curved bowl light blue shade steady and slide the curved bowl light blue shade on.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the blue bowl using the left arm.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Pick the small bowl with brown edge, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Position the blue bowl with the arm, then set the rounded bowl with light blue color above it.",
+    "Use the arm to place the bowl with brown outer rim, then stack the glazed bowl with curved sides on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the glazed bowl with curved sides on top.",
+    "Place the bowl with brown outer rim down and stack the blue bowl on top.",
+    "Take the bowl with shiny texture, place the ceramic bowl above, and let go.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Take the blue bowl with slightly rounded base, align the medium-sized bowl for holding food, and stack them.",
+    "Grab the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the small bowl with brown edge, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, position the rounded bowl with light blue color, and place it over the ceramic bowl with earthy brown trim.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the small bowl with brown edge over it.",
+    "Align the glazed bowl with curved sides over the curved bowl light blue shade, then complete the stack.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the rounded bowl with light blue color, then carefully place the ceramic bowl on top.",
+    "Hold the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Lift the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Set the small bowl with brown edge down, then add the curved bowl light blue shade over it.",
+    "Pick up the ceramic bowl, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl with slightly rounded base on top of the glazed bowl with curved sides.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl with slightly rounded base on it.",
+    "Lift the glazed bowl with curved sides, then stack it on the glazed bowl with curved sides.",
+    "Lift the curved bowl light blue shade, position the blue bowl above it, and stack.",
+    "Set down the ceramic bowl with earthy brown trim and drop the medium-sized bowl for holding food on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the curved bowl light blue shade.",
+    "Place the blue bowl down, then set the small bowl with brown edge above it.",
+    "Take the dark inside bowl light blue outside, place it, and stack the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Align the curved bowl light blue shade and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge and position it neatly over the medium-sized bowl for holding food.",
+    "the curved bowl light blue shade goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Put the blue bowl with slightly rounded base first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Place the bowl with brown outer rim on the surface, then stack the curved bowl light blue shade above it.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the blue bowl on.",
+    "Set the blue bowl over the bowl with brown outer rim to create the stack.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl, and stack them.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl above it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Grab the bowl with shiny texture, position it, and place the blue bowl with slightly rounded base on top.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Take the rounded bowl with light blue color, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the ceramic bowl using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Take the medium-sized bowl for holding food, align the dark inside bowl light blue outside, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the bowl with brown outer rim.",
+    "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim.",
+    "Pick the blue bowl, position the blue bowl, and place it over the blue bowl.",
+    "Stack the small bowl with brown edge securely on top of the bowl with shiny texture.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the bowl with brown outer rim on top.",
+    "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.",
+    "Lift the blue bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Position the blue bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl.",
+    "Use the right arm for the blue bowl with slightly rounded base, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Arrange the bowl with brown outer rim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Place the bowl with shiny texture down, then set the bowl with brown outer rim on top of the bowl with shiny texture.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl.",
+    "Lift the ceramic bowl, position the glazed bowl with curved sides above it, and stack.",
+    "Set down the blue bowl and drop the dark inside bowl light blue outside on top.",
+    "Stack the medium-sized bowl for holding food carefully over the small bowl with brown edge.",
+    "Place the ceramic bowl down, then set the glazed bowl with curved sides above it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode69.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode69.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a4c905b4be713115248acca6c8049985df5dcc7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode69.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, position the blue bowl above it, and stack.",
+    "Place the bowl with shiny texture on the surface, then stack the bowl with brown outer rim above it.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the dark inside bowl light blue outside, position the ceramic bowl, and place it over the dark inside bowl light blue outside.",
+    "Lift the small bowl with brown edge, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the rounded bowl with light blue color.",
+    "Set down the dark inside bowl light blue outside and drop the blue bowl on top.",
+    "Position the bowl with shiny texture carefully on the small bowl with brown edge.",
+    "Take the curved bowl light blue shade, align the blue bowl with slightly rounded base, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Position the blue bowl with slightly rounded base and stack the bowl with shiny texture securely onto it.",
+    "Pick up the blue bowl using the left arm, then stack the small bowl with brown edge using the right arm.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Lift the glazed bowl with curved sides, grab the bowl with shiny texture, and set the bowl with shiny texture on the glazed bowl with curved sides.",
+    "Pick the blue bowl, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Hold the curved bowl light blue shade steady and slide the blue bowl with slightly rounded base on.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Take the glazed bowl with curved sides, place the dark inside bowl light blue outside above, and let go.",
+    "Set the ceramic bowl with earthy brown trim down, then add the small bowl with brown edge over it.",
+    "the ceramic bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Hold the bowl with brown outer rim and stack the bowl with brown outer rim neatly atop.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food above it.",
+    "Align the rounded bowl with light blue color over the medium-sized bowl for holding food, then complete the stack.",
+    "Stack the bowl with shiny texture securely on top of the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, position it, and place the bowl with brown outer rim on top.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Set the dark inside bowl light blue outside over the bowl with shiny texture to create the stack.",
+    "Stack the glazed bowl with curved sides carefully over the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture and position it neatly over the curved bowl light blue shade.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base using the right arm.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the bowl with brown outer rim, place it down, then position the bowl with shiny texture on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Take the dark inside bowl light blue outside, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the small bowl with brown edge on top.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Place the small bowl with brown edge down and stack the bowl with shiny texture on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Lift the dark inside bowl light blue outside, position the rounded bowl with light blue color above it, and stack.",
+    "Place the small bowl with brown edge on the surface, then stack the curved bowl light blue shade above it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the small bowl with brown edge, position the blue bowl, and place it over the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade, then stack it on the dark inside bowl light blue outside.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Set down the medium-sized bowl for holding food and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl carefully on the curved bowl light blue shade.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl, and stack them.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Position the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the blue bowl, then stack the rounded bowl with light blue color on it.",
+    "Lift the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Hold the small bowl with brown edge steady and slide the bowl with shiny texture on.",
+    "Put the blue bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Take the blue bowl, place the bowl with shiny texture above, and let go.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "the glazed bowl with curved sides goes at the bottom, the ceramic bowl rests above.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with shiny texture neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Align the blue bowl with slightly rounded base over the bowl with brown outer rim, then complete the stack.",
+    "Stack the bowl with brown outer rim securely on top of the dark inside bowl light blue outside.",
+    "Grab the blue bowl, position it, and place the medium-sized bowl for holding food on top.",
+    "Use the left arm for the blue bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Set the ceramic bowl with earthy brown trim over the bowl with brown outer rim to create the stack.",
+    "Stack the glazed bowl with curved sides carefully over the bowl with shiny texture.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl on top of the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Grab the ceramic bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the right arm.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Align the medium-sized bowl for holding food and the small bowl with brown edge, then stack the small bowl with brown edge on the medium-sized bowl for holding food.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "Pick up the small bowl with brown edge, grab the ceramic bowl, and stack the ceramic bowl on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl over it.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Place the blue bowl on the surface, then stack the medium-sized bowl for holding food above it."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode7.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode7.json
new file mode 100644
index 0000000000000000000000000000000000000000..536d63d5bb90afb9c7222cca72135ef765f105b8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode7.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the ceramic bowl using the left arm.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick up the blue bowl, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Take the bowl with shiny texture, place it, and stack the ceramic bowl on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl with earthy brown trim on top of the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the bowl with shiny texture, then stack it on the blue bowl.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the curved bowl light blue shade on top.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Align the bowl with shiny texture over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the small bowl with brown edge, align the small bowl with brown edge, and stack them.",
+    "Position the bowl with shiny texture, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the bowl with shiny texture.",
+    "Pick the ceramic bowl, then stack the bowl with shiny texture on it.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Take the blue bowl, place the glazed bowl with curved sides above, and let go.",
+    "With the left arm, lift the blue bowl and stack the dark inside bowl light blue outside using the left arm.",
+    "Position the ceramic bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the blue bowl with the left arm.",
+    "Hold the ceramic bowl steady and slide the small bowl with brown edge on.",
+    "Grab the dark inside bowl light blue outside, then carefully place the medium-sized bowl for holding food on top.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Place the medium-sized bowl for holding food down, then set the curved bowl light blue shade above it.",
+    "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.",
+    "Set the medium-sized bowl for holding food down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the blue bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Arrange the curved bowl light blue shade, lift the small bowl with brown edge with the arm, and stack them.",
+    "Stack the blue bowl with slightly rounded base carefully over the glazed bowl with curved sides.",
+    "the blue bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Lift the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Put the ceramic bowl first, then bring the dark inside bowl light blue outside to stack above.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with shiny texture above it.",
+    "Stack the rounded bowl with light blue color securely on top of the small bowl with brown edge.",
+    "Pick up the ceramic bowl using the left arm, then stack the blue bowl using the left arm.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Hold the small bowl with brown edge and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Align the small bowl with brown edge and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the dark inside bowl light blue outside.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the bowl with shiny texture down, then set the glazed bowl with curved sides on top of the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Place the ceramic bowl down and stack the curved bowl light blue shade on top.",
+    "Align the small bowl with brown edge over the rounded bowl with light blue color, then complete the stack.",
+    "Take the bowl with brown outer rim, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the ceramic bowl with earthy brown trim, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl with slightly rounded base on it.",
+    "Position the dark inside bowl light blue outside carefully on the small bowl with brown edge.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the rounded bowl with light blue color over it.",
+    "Take the dark inside bowl light blue outside, place the blue bowl with slightly rounded base above, and let go.",
+    "With the left arm, lift the bowl with brown outer rim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim securely onto it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Hold the bowl with brown outer rim steady and slide the small bowl with brown edge on.",
+    "Grab the rounded bowl with light blue color, then carefully place the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl above it.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim above it.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the dark inside bowl light blue outside and set the medium-sized bowl for holding food on it.",
+    "Pick the ceramic bowl, position the medium-sized bowl for holding food, and place it over the ceramic bowl.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Stack the dark inside bowl light blue outside carefully over the small bowl with brown edge.",
+    "the bowl with shiny texture goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Lift the dark inside bowl light blue outside, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, position the blue bowl above it, and stack.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Grab the bowl with brown outer rim, set it down, then place the medium-sized bowl for holding food over it.",
+    "Grab the bowl with brown outer rim, position it, and place the curved bowl light blue shade on top.",
+    "Put the glazed bowl with curved sides first, then bring the medium-sized bowl for holding food to stack above.",
+    "Position the bowl with brown outer rim with the arm, then set the blue bowl above it.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with brown outer rim above."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode70.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode70.json
new file mode 100644
index 0000000000000000000000000000000000000000..b157526f82be4d4e322f31e189e01d81f9216958
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode70.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set down the dark inside bowl light blue outside and drop the dark inside bowl light blue outside on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl, and stack them.",
+    "Align the bowl with brown outer rim over the medium-sized bowl for holding food, then complete the stack.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base, position the dark inside bowl light blue outside above it, and stack.",
+    "Position the curved bowl light blue shade, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Pick the bowl with shiny texture, then stack the small bowl with brown edge on it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the curved bowl light blue shade above.",
+    "Set the small bowl with brown edge over the dark inside bowl light blue outside to create the stack.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Align the dark inside bowl light blue outside and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Position the glazed bowl with curved sides carefully on the blue bowl with slightly rounded base.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick the bowl with shiny texture, position on the table, and place the small bowl with brown edge over it.",
+    "Hold the bowl with shiny texture steady and slide the small bowl with brown edge on.",
+    "Pick the small bowl with brown edge, position the ceramic bowl, and place it over the small bowl with brown edge.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge on top of the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the blue bowl.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the dark inside bowl light blue outside using the right arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Lift the ceramic bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the curved bowl light blue shade.",
+    "Take the ceramic bowl, place the bowl with brown outer rim above, and let go.",
+    "the medium-sized bowl for holding food goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set the dark inside bowl light blue outside down, then add the dark inside bowl light blue outside over it.",
+    "Pick up the dark inside bowl light blue outside and set the blue bowl on it.",
+    "Position the ceramic bowl with earthy brown trim and stack the ceramic bowl securely onto it.",
+    "Take the small bowl with brown edge, position it, then stack the glazed bowl with curved sides directly above.",
+    "Take the bowl with shiny texture, place it, and stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the blue bowl with slightly rounded base.",
+    "Grab the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the dark inside bowl light blue outside.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Place the blue bowl with slightly rounded base down and stack the ceramic bowl with earthy brown trim on top.",
+    "Arrange the medium-sized bowl for holding food, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the ceramic bowl, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the small bowl with brown edge using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the rounded bowl with light blue color above it.",
+    "Hold the bowl with shiny texture and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Put the bowl with brown outer rim first, then bring the bowl with shiny texture to stack above.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Align the bowl with brown outer rim over the bowl with shiny texture, then complete the stack.",
+    "Grab the rounded bowl with light blue color, then carefully place the curved bowl light blue shade on top.",
+    "Lift the glazed bowl with curved sides, position the rounded bowl with light blue color above it, and stack.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the bowl with shiny texture above.",
+    "Set the blue bowl with slightly rounded base over the ceramic bowl to create the stack.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl on top.",
+    "Align the blue bowl with slightly rounded base and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the blue bowl with slightly rounded base.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the ceramic bowl over it.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl on.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the bowl with brown outer rim down, then set the rounded bowl with light blue color on top of the bowl with brown outer rim.",
+    "Lift the blue bowl, then stack it on the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Place the small bowl with brown edge on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the glazed bowl with curved sides using the right arm.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with shiny texture.",
+    "Lift the ceramic bowl, grab the ceramic bowl, and set the ceramic bowl on the ceramic bowl.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Take the curved bowl light blue shade, place the blue bowl with slightly rounded base above, and let go.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Set the medium-sized bowl for holding food down, then add the bowl with brown outer rim over it.",
+    "Pick up the bowl with shiny texture and set the small bowl with brown edge on it.",
+    "Position the glazed bowl with curved sides and stack the blue bowl with slightly rounded base securely onto it.",
+    "Take the small bowl with brown edge, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Take the small bowl with brown edge, place it, and stack the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl on top.",
+    "Arrange the blue bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Put the blue bowl first, then bring the curved bowl light blue shade to stack above.",
+    "Set down the dark inside bowl light blue outside and drop the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode71.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode71.json
new file mode 100644
index 0000000000000000000000000000000000000000..944d573b4836dad5ff2e93ec4f4467675e63f090
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode71.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the right arm.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Set the small bowl with brown edge down, then add the ceramic bowl with earthy brown trim over it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.",
+    "Take the bowl with brown outer rim, position it, then stack the small bowl with brown edge directly above.",
+    "Take the dark inside bowl light blue outside, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the bowl with brown outer rim.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with shiny texture.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the bowl with shiny texture with the right arm.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on it.",
+    "Take the dark inside bowl light blue outside, align the glazed bowl with curved sides, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the small bowl with brown edge.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl with earthy brown trim on top of the bowl with shiny texture.",
+    "Align the blue bowl over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the bowl with brown outer rim on top.",
+    "Align the curved bowl light blue shade and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the curved bowl light blue shade.",
+    "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the ceramic bowl with earthy brown trim.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the blue bowl above it.",
+    "Hold the glazed bowl with curved sides and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the ceramic bowl.",
+    "Grab the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the rounded bowl with light blue color above.",
+    "the blue bowl goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Lift the ceramic bowl, position the blue bowl above it, and stack.",
+    "Grab the medium-sized bowl for holding food, position it, and place the dark inside bowl light blue outside on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the blue bowl, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Take the dark inside bowl light blue outside, place the bowl with brown outer rim above, and let go.",
+    "Place the ceramic bowl down and stack the medium-sized bowl for holding food on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Put the ceramic bowl first, then bring the blue bowl to stack above.",
+    "Use the arm to place the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with shiny texture, then carefully place the bowl with brown outer rim on top.",
+    "Set the ceramic bowl over the blue bowl with slightly rounded base to create the stack.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Position the glazed bowl with curved sides, lift the blue bowl, and place the blue bowl on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Pick the blue bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the bowl with shiny texture, then stack it on the glazed bowl with curved sides.",
+    "With the left arm, lift the blue bowl and stack the bowl with brown outer rim using the right arm.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Set the glazed bowl with curved sides down, then add the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the medium-sized bowl for holding food.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the dark inside bowl light blue outside.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the bowl with shiny texture.",
+    "Use the left arm for the blue bowl, place it, and stack the blue bowl with the right arm.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Take the ceramic bowl with earthy brown trim, align the blue bowl with slightly rounded base, and stack them.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base on top of the small bowl with brown edge.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Align the dark inside bowl light blue outside and the small bowl with brown edge, then stack the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Arrange the blue bowl with slightly rounded base, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade on the surface, then stack the bowl with shiny texture above it.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the curved bowl light blue shade, then stack the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "the ceramic bowl goes at the bottom, the curved bowl light blue shade rests above.",
+    "Position the small bowl with brown edge carefully on the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Pick the bowl with brown outer rim, position the bowl with shiny texture, and place it over the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the curved bowl light blue shade, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the glazed bowl with curved sides on top.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Put the ceramic bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Position the dark inside bowl light blue outside, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the bowl with shiny texture, then stack it on the rounded bowl with light blue color.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the ceramic bowl using the right arm."
+  ],
+  "unseen": [
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode72.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode72.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0c56e1513234b21d10e7041b5e324d7495f6bc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode72.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with brown outer rim.",
+    "Set the dark inside bowl light blue outside over the curved bowl light blue shade to create the stack.",
+    "Grab the bowl with shiny texture, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Align the blue bowl with slightly rounded base and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Hold the blue bowl steady and slide the dark inside bowl light blue outside on.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the small bowl with brown edge using the left arm.",
+    "Set down the rounded bowl with light blue color and drop the dark inside bowl light blue outside on top.",
+    "Stack the bowl with brown outer rim securely on top of the blue bowl.",
+    "Position the dark inside bowl light blue outside carefully on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl on it.",
+    "Lift the glazed bowl with curved sides, then stack it on the curved bowl light blue shade.",
+    "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade on top of the small bowl with brown edge.",
+    "Place the blue bowl down and stack the medium-sized bowl for holding food on top.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl on it.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the bowl with brown outer rim above it.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Take the glazed bowl with curved sides, align the bowl with brown outer rim, and stack them.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the bowl with shiny texture above.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Align the blue bowl with slightly rounded base over the bowl with shiny texture, then complete the stack.",
+    "Position the curved bowl light blue shade and stack the curved bowl light blue shade securely onto it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Take the small bowl with brown edge, place the curved bowl light blue shade above, and let go.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Grab the medium-sized bowl for holding food, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with shiny texture on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade and position it neatly over the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl over it.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Arrange the ceramic bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the curved bowl light blue shade on top.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Hold the medium-sized bowl for holding food and stack the rounded bowl with light blue color neatly atop.",
+    "Position the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Pick the curved bowl light blue shade, position the dark inside bowl light blue outside, and place it over the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the glazed bowl with curved sides.",
+    "Set the glazed bowl with curved sides over the dark inside bowl light blue outside to create the stack.",
+    "Grab the curved bowl light blue shade, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Align the small bowl with brown edge and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the small bowl with brown edge.",
+    "Place the small bowl with brown edge on the surface, then stack the bowl with brown outer rim above it.",
+    "Hold the ceramic bowl steady and slide the glazed bowl with curved sides on.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl with slightly rounded base using the left arm.",
+    "Set down the ceramic bowl and drop the bowl with brown outer rim on top.",
+    "Stack the bowl with brown outer rim securely on top of the rounded bowl with light blue color.",
+    "Position the curved bowl light blue shade carefully on the glazed bowl with curved sides.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the dark inside bowl light blue outside.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with the left arm.",
+    "Grab the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture on top of the dark inside bowl light blue outside.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the bowl with shiny texture above it.",
+    "the blue bowl goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Take the glazed bowl with curved sides, align the blue bowl, and stack them.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the ceramic bowl above.",
+    "Lift the blue bowl using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Align the glazed bowl with curved sides over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Position the bowl with brown outer rim and stack the blue bowl securely onto it.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl above it.",
+    "Take the bowl with brown outer rim, place the dark inside bowl light blue outside above, and let go.",
+    "Put the blue bowl with slightly rounded base first, then bring the rounded bowl with light blue color to stack above.",
+    "Grab the small bowl with brown edge, position it, and place the small bowl with brown edge on top.",
+    "Lift the blue bowl with slightly rounded base, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.",
+    "Pick up the ceramic bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl and position it neatly over the bowl with shiny texture.",
+    "Stack the blue bowl with slightly rounded base carefully over the bowl with brown outer rim.",
+    "Set the bowl with brown outer rim down, then add the ceramic bowl with earthy brown trim over it.",
+    "Lift the curved bowl light blue shade, position the blue bowl above it, and stack.",
+    "Arrange the rounded bowl with light blue color, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with brown outer rim on top.",
+    "Pick the ceramic bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Hold the dark inside bowl light blue outside and stack the curved bowl light blue shade neatly atop.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Pick the dark inside bowl light blue outside, position the bowl with brown outer rim, and place it over the dark inside bowl light blue outside.",
+    "Pick up the curved bowl light blue shade, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, set it down, then place the bowl with shiny texture over it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode73.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode73.json
new file mode 100644
index 0000000000000000000000000000000000000000..87538de103a21c566b784425dc482a095f7fadab
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode73.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the blue bowl, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Hold the dark inside bowl light blue outside steady and slide the dark inside bowl light blue outside on.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl above it.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the small bowl with brown edge.",
+    "Stack the bowl with brown outer rim securely on top of the dark inside bowl light blue outside.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture above it.",
+    "Grab the rounded bowl with light blue color, position it, and place the curved bowl light blue shade on top.",
+    "Take the ceramic bowl with earthy brown trim, place the dark inside bowl light blue outside above, and let go.",
+    "Place the medium-sized bowl for holding food down, then set the dark inside bowl light blue outside on top of the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Set the dark inside bowl light blue outside over the blue bowl with slightly rounded base to create the stack.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the small bowl with brown edge.",
+    "Hold the ceramic bowl and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Arrange the bowl with shiny texture, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with shiny texture on top.",
+    "With the right arm, lift the small bowl with brown edge and stack the medium-sized bowl for holding food using the left arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Grab the bowl with shiny texture, then carefully place the blue bowl on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the curved bowl light blue shade on top.",
+    "Position the bowl with shiny texture, lift the blue bowl, and place the blue bowl on the bowl with shiny texture.",
+    "Position the medium-sized bowl for holding food carefully on the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the glazed bowl with curved sides.",
+    "Pick the bowl with shiny texture, then stack the rounded bowl with light blue color on it.",
+    "Stack the dark inside bowl light blue outside carefully over the curved bowl light blue shade.",
+    "Take the ceramic bowl, align the rounded bowl with light blue color, and stack them.",
+    "Set down the rounded bowl with light blue color and drop the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Use the right arm for the dark inside bowl light blue outside, place it, and stack the ceramic bowl with the left arm.",
+    "Pick the blue bowl with slightly rounded base, position the blue bowl with slightly rounded base, and place it over the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Set the bowl with brown outer rim down, then add the glazed bowl with curved sides over it.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Pick up the dark inside bowl light blue outside, grab the ceramic bowl, and stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl and position it neatly over the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, grab the small bowl with brown edge, and set the small bowl with brown edge on the small bowl with brown edge.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with shiny texture to stack above.",
+    "Take the small bowl with brown edge, place it, and stack the ceramic bowl on top.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the small bowl with brown edge, lift it up, position the blue bowl, and stack them.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl with slightly rounded base on top.",
+    "the rounded bowl with light blue color goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick up the ceramic bowl, place it down, then position the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position on the table, and place the blue bowl over it.",
+    "Position the blue bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Align the blue bowl over the ceramic bowl, then complete the stack.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the bowl with shiny texture above it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.",
+    "Place the small bowl with brown edge down, then set the curved bowl light blue shade above it.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food on top of the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the curved bowl light blue shade over it.",
+    "Set the blue bowl over the bowl with shiny texture to create the stack.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base neatly atop.",
+    "Lift the bowl with shiny texture, position the bowl with shiny texture above it, and stack.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the left arm.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "Grab the blue bowl, then carefully place the dark inside bowl light blue outside on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the bowl with shiny texture on top.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.",
+    "Pick the ceramic bowl, then stack the curved bowl light blue shade on it.",
+    "Stack the glazed bowl with curved sides carefully over the rounded bowl with light blue color.",
+    "Take the medium-sized bowl for holding food, align the blue bowl, and stack them.",
+    "Set down the blue bowl and drop the bowl with shiny texture on top.",
+    "Pick up the curved bowl light blue shade and set the bowl with shiny texture on it.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Set the bowl with brown outer rim down, then add the blue bowl over it.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the blue bowl and position it neatly over the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Put the medium-sized bowl for holding food first, then bring the bowl with shiny texture to stack above.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Take the blue bowl, position it, then stack the curved bowl light blue shade directly above.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Place the ceramic bowl with earthy brown trim down and stack the blue bowl with slightly rounded base on top.",
+    "the medium-sized bowl for holding food goes at the bottom, the bowl with shiny texture rests above.",
+    "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode74.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode74.json
new file mode 100644
index 0000000000000000000000000000000000000000..af02c15663b43377f53200711ce6599e6fddd9f5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode74.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glazed bowl with curved sides, lift it up, position the ceramic bowl, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the bowl with shiny texture over it.",
+    "Grab the small bowl with brown edge, set it down, then place the small bowl with brown edge over it.",
+    "Take the blue bowl, place it, and stack the curved bowl light blue shade on top.",
+    "Align the rounded bowl with light blue color over the glazed bowl with curved sides, then complete the stack.",
+    "Set down the blue bowl with slightly rounded base and drop the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, grab the small bowl with brown edge, and set the small bowl with brown edge on the rounded bowl with light blue color.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the left arm.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "the bowl with shiny texture goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Set the bowl with brown outer rim down, then add the medium-sized bowl for holding food over it.",
+    "Hold the blue bowl with slightly rounded base and stack the bowl with shiny texture neatly atop.",
+    "Position the blue bowl carefully on the blue bowl.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with shiny texture on.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with shiny texture directly above.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Lift the blue bowl, position the blue bowl above it, and stack.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Position the bowl with shiny texture and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the ceramic bowl, then stack it on the ceramic bowl with earthy brown trim.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with shiny texture.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Pick the blue bowl with slightly rounded base, position the dark inside bowl light blue outside, and place it over the blue bowl with slightly rounded base.",
+    "Stack the bowl with brown outer rim carefully over the dark inside bowl light blue outside.",
+    "Place the bowl with brown outer rim down and stack the bowl with brown outer rim on top.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl with earthy brown trim on it.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "Pick the ceramic bowl, then stack the dark inside bowl light blue outside on it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the rounded bowl with light blue color with the arm, then set the dark inside bowl light blue outside above it.",
+    "Grab the bowl with brown outer rim, position it, and place the glazed bowl with curved sides on top.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "Arrange the ceramic bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Use the left arm for the ceramic bowl, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Place the blue bowl on the surface, then stack the small bowl with brown edge above it.",
+    "Place the ceramic bowl down, then set the dark inside bowl light blue outside on top of the ceramic bowl.",
+    "Pick up the blue bowl using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grab the blue bowl with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick the small bowl with brown edge, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the curved bowl light blue shade on top.",
+    "Align the dark inside bowl light blue outside over the blue bowl, then complete the stack.",
+    "Set down the curved bowl light blue shade and drop the dark inside bowl light blue outside on top.",
+    "Lift the bowl with shiny texture, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with shiny texture.",
+    "With the left arm, lift the bowl with shiny texture and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Position the blue bowl, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set the small bowl with brown edge down, then add the blue bowl with slightly rounded base over it.",
+    "Hold the ceramic bowl and stack the small bowl with brown edge neatly atop.",
+    "Position the ceramic bowl carefully on the curved bowl light blue shade.",
+    "Hold the bowl with shiny texture steady and slide the glazed bowl with curved sides on.",
+    "Take the bowl with shiny texture, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Take the medium-sized bowl for holding food, place the blue bowl above, and let go.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Lift the bowl with brown outer rim, position the curved bowl light blue shade above it, and stack.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.",
+    "Use the arm to place the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl, position the ceramic bowl with earthy brown trim, and place it over the blue bowl.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Set the blue bowl with slightly rounded base over the dark inside bowl light blue outside to create the stack.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the medium-sized bowl for holding food with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the glazed bowl with curved sides, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food above it.",
+    "Arrange the blue bowl with slightly rounded base, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Use the left arm for the bowl with brown outer rim, place it, and stack the blue bowl with the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture on top of the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the curved bowl light blue shade using the left arm.",
+    "Grab the ceramic bowl, then carefully place the ceramic bowl on top.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the glazed bowl with curved sides.",
+    "Take the blue bowl, align the blue bowl, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the blue bowl with slightly rounded base.",
+    "Align the blue bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the blue bowl.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.",
+    "Put the rounded bowl with light blue color first, then bring the bowl with shiny texture to stack above.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Pick the curved bowl light blue shade, position on the table, and place the ceramic bowl over it."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode75.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode75.json
new file mode 100644
index 0000000000000000000000000000000000000000..839f59ee66d0dc0b928dbdf1343f5f449ee1d9d8
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode75.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.",
+    "Grab the glazed bowl with curved sides, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the glazed bowl with curved sides over it.",
+    "Set down the ceramic bowl and drop the blue bowl with slightly rounded base on top.",
+    "Align the ceramic bowl over the blue bowl, then complete the stack.",
+    "Align the blue bowl with slightly rounded base and the ceramic bowl, then stack the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Grab the bowl with shiny texture with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Place the blue bowl with slightly rounded base down and stack the rounded bowl with light blue color on top.",
+    "Arrange the bowl with shiny texture, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "With the left arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the left arm.",
+    "Position the small bowl with brown edge with the arm, then set the blue bowl above it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the glazed bowl with curved sides.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Take the curved bowl light blue shade, align the medium-sized bowl for holding food, and stack them.",
+    "Take the ceramic bowl, place it, and stack the bowl with shiny texture on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with shiny texture, and set the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Set the glazed bowl with curved sides over the glazed bowl with curved sides to create the stack.",
+    "Place the blue bowl on the surface, then stack the blue bowl above it.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Set the dark inside bowl light blue outside down, then add the small bowl with brown edge over it.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the curved bowl light blue shade carefully on the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Place the small bowl with brown edge down, then set the medium-sized bowl for holding food above it.",
+    "the curved bowl light blue shade goes at the bottom, the bowl with brown outer rim rests above.",
+    "Stack the ceramic bowl carefully over the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge and set the blue bowl with slightly rounded base on it.",
+    "Hold the medium-sized bowl for holding food and stack the bowl with brown outer rim neatly atop.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside on top of the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Lift the ceramic bowl, then stack it on the bowl with brown outer rim.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Hold the medium-sized bowl for holding food steady and slide the small bowl with brown edge on.",
+    "Pick the blue bowl, position the dark inside bowl light blue outside, and place it over the blue bowl.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with shiny texture on top.",
+    "Grab the ceramic bowl, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Lift the dark inside bowl light blue outside, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the bowl with brown outer rim, lift it up, position the bowl with shiny texture, and stack them.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the small bowl with brown edge over it.",
+    "Set down the blue bowl with slightly rounded base and drop the rounded bowl with light blue color on top.",
+    "Align the glazed bowl with curved sides over the rounded bowl with light blue color, then complete the stack.",
+    "Align the bowl with shiny texture and the ceramic bowl, then stack the ceramic bowl on the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the bowl with shiny texture with the arm, and stack them.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the left arm.",
+    "Position the bowl with shiny texture with the arm, then set the ceramic bowl above it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Position the glazed bowl with curved sides and stack the dark inside bowl light blue outside securely onto it.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Take the glazed bowl with curved sides, place it, and stack the rounded bowl with light blue color on top.",
+    "Grab the bowl with brown outer rim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the curved bowl light blue shade above it.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Grab the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the rounded bowl with light blue color, lift the ceramic bowl, and place the ceramic bowl on the rounded bowl with light blue color.",
+    "Take the dark inside bowl light blue outside, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Set the curved bowl light blue shade down, then add the ceramic bowl over it.",
+    "Take the bowl with shiny texture, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the small bowl with brown edge.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the small bowl with brown edge using the left arm.",
+    "Put the bowl with brown outer rim first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Place the blue bowl down, then set the glazed bowl with curved sides above it.",
+    "the small bowl with brown edge goes at the bottom, the small bowl with brown edge rests above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the ceramic bowl.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the ceramic bowl on top.",
+    "Pick up the small bowl with brown edge, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the small bowl with brown edge.",
+    "Pick up the small bowl with brown edge and set the bowl with brown outer rim on it.",
+    "Hold the bowl with brown outer rim and stack the glazed bowl with curved sides neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the glazed bowl with curved sides on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Pick the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Hold the small bowl with brown edge steady and slide the small bowl with brown edge on.",
+    "Pick the blue bowl, position the curved bowl light blue shade, and place it over the blue bowl.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl with slightly rounded base on top.",
+    "Grab the bowl with shiny texture, position it, and place the ceramic bowl on top.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the bowl with shiny texture using the left arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode76.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode76.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ccb10c8b6f74f4d433dc121dc7308b8cb808939
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode76.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl.",
+    "Grab the bowl with brown outer rim, set it down, then place the bowl with brown outer rim over it.",
+    "Place the blue bowl down, then set the medium-sized bowl for holding food on top of the blue bowl.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Take the bowl with shiny texture, place it, and stack the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the blue bowl using the left arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the ceramic bowl with earthy brown trim.",
+    "Arrange the glazed bowl with curved sides, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Grab the blue bowl with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Position the small bowl with brown edge carefully on the dark inside bowl light blue outside.",
+    "Place the curved bowl light blue shade down and stack the ceramic bowl on top.",
+    "Grab the blue bowl, position it, and place the bowl with shiny texture on top.",
+    "Align the bowl with brown outer rim over the blue bowl, then complete the stack.",
+    "Grab the bowl with shiny texture, then carefully place the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Take the rounded bowl with light blue color, align the medium-sized bowl for holding food, and stack them.",
+    "Position the curved bowl light blue shade with the arm, then set the small bowl with brown edge above it.",
+    "Stack the bowl with shiny texture securely on top of the rounded bowl with light blue color.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl with earthy brown trim on top.",
+    "Pick up the blue bowl and set the medium-sized bowl for holding food on it.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the glazed bowl with curved sides.",
+    "Lift the small bowl with brown edge, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Lift the curved bowl light blue shade, grab the ceramic bowl, and set the ceramic bowl on the curved bowl light blue shade.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with brown outer rim on.",
+    "Align the medium-sized bowl for holding food and the bowl with shiny texture, then stack the bowl with shiny texture on the medium-sized bowl for holding food.",
+    "Take the small bowl with brown edge, place the medium-sized bowl for holding food above, and let go.",
+    "Hold the bowl with brown outer rim and stack the bowl with shiny texture neatly atop.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the bowl with brown outer rim and stack the small bowl with brown edge securely onto it.",
+    "Take the curved bowl light blue shade, position it, then stack the blue bowl directly above.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick up the bowl with brown outer rim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Put the ceramic bowl first, then bring the small bowl with brown edge to stack above.",
+    "With the left arm, lift the bowl with shiny texture and stack the blue bowl with slightly rounded base using the left arm.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Use the left arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the ceramic bowl, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Grasp the blue bowl, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Take the glazed bowl with curved sides, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Pick up the ceramic bowl using the left arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the curved bowl light blue shade with the left arm, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down and stack the small bowl with brown edge on top.",
+    "Grab the ceramic bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl rests above.",
+    "Pick up the rounded bowl with light blue color, grab the small bowl with brown edge, and stack the small bowl with brown edge on the rounded bowl with light blue color.",
+    "Place the blue bowl with slightly rounded base down, then set the bowl with shiny texture above it.",
+    "Lift the glazed bowl with curved sides and position it neatly over the curved bowl light blue shade.",
+    "Take the blue bowl, align the ceramic bowl, and stack them.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Stack the curved bowl light blue shade securely on top of the medium-sized bowl for holding food.",
+    "Set down the curved bowl light blue shade and drop the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with shiny texture above it.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl on top.",
+    "Lift the bowl with shiny texture, grab the blue bowl, and set the blue bowl on the bowl with shiny texture.",
+    "Grab the blue bowl with slightly rounded base, then stack the small bowl with brown edge on top.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Set the ceramic bowl down, then add the small bowl with brown edge over it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the dark inside bowl light blue outside on.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Take the glazed bowl with curved sides, place the curved bowl light blue shade above, and let go.",
+    "Hold the blue bowl with slightly rounded base and stack the blue bowl neatly atop.",
+    "Pick the ceramic bowl, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Position the blue bowl with slightly rounded base and stack the dark inside bowl light blue outside securely onto it.",
+    "Take the ceramic bowl, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Pick the glazed bowl with curved sides, then stack the bowl with shiny texture on it.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "With the left arm, lift the bowl with brown outer rim and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the glazed bowl with curved sides, position the blue bowl with slightly rounded base, and place it over the glazed bowl with curved sides.",
+    "Set the ceramic bowl over the dark inside bowl light blue outside to create the stack.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Position the bowl with brown outer rim, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the bowl with brown outer rim.",
+    "Stack the curved bowl light blue shade carefully over the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode77.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode77.json
new file mode 100644
index 0000000000000000000000000000000000000000..820369b66062d1281e240f55a8186f77cda04240
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode77.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick the bowl with shiny texture, position the blue bowl with slightly rounded base, and place it over the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, align the medium-sized bowl for holding food, and stack them.",
+    "Use the right arm for the rounded bowl with light blue color, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Lift the medium-sized bowl for holding food, grab the ceramic bowl, and set the ceramic bowl on the medium-sized bowl for holding food.",
+    "Set the ceramic bowl down, then add the bowl with brown outer rim over it.",
+    "Hold the blue bowl steady and slide the blue bowl on.",
+    "Position the dark inside bowl light blue outside with the arm, then set the glazed bowl with curved sides above it.",
+    "Use the arm to place the ceramic bowl, then stack the ceramic bowl on top.",
+    "Stack the small bowl with brown edge carefully over the rounded bowl with light blue color.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with shiny texture above it.",
+    "Position the bowl with brown outer rim carefully on the bowl with brown outer rim.",
+    "Stack the bowl with brown outer rim securely on top of the glazed bowl with curved sides.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the blue bowl.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Take the bowl with brown outer rim, place it, and stack the blue bowl on top.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the rounded bowl with light blue color using the left arm.",
+    "the curved bowl light blue shade goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Set down the dark inside bowl light blue outside and drop the rounded bowl with light blue color on top.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Arrange the ceramic bowl, lift the blue bowl with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the bowl with shiny texture above.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Align the blue bowl over the dark inside bowl light blue outside, then complete the stack.",
+    "Grab the medium-sized bowl for holding food, then stack the glazed bowl with curved sides on top.",
+    "Grab the medium-sized bowl for holding food, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the small bowl with brown edge and set the curved bowl light blue shade on it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Put the blue bowl with slightly rounded base first, then bring the ceramic bowl to stack above.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the small bowl with brown edge using the left arm.",
+    "Position the curved bowl light blue shade and stack the blue bowl securely onto it.",
+    "Align the rounded bowl with light blue color and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl with slightly rounded base, place the small bowl with brown edge above, and let go.",
+    "Grab the ceramic bowl, set it down, then place the bowl with shiny texture over it.",
+    "Hold the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade neatly atop.",
+    "Lift the medium-sized bowl for holding food, position the glazed bowl with curved sides above it, and stack.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the medium-sized bowl for holding food down and stack the ceramic bowl on top.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Take the blue bowl, position it, then stack the ceramic bowl directly above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the bowl with brown outer rim, grab the blue bowl, and set the blue bowl on the bowl with brown outer rim.",
+    "Set the bowl with shiny texture down, then add the blue bowl with slightly rounded base over it.",
+    "Hold the small bowl with brown edge steady and slide the glazed bowl with curved sides on.",
+    "Position the curved bowl light blue shade with the arm, then set the dark inside bowl light blue outside above it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the ceramic bowl on top.",
+    "Stack the rounded bowl with light blue color carefully over the blue bowl with slightly rounded base.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.",
+    "Stack the blue bowl with slightly rounded base securely on top of the medium-sized bowl for holding food.",
+    "Set the blue bowl over the blue bowl to create the stack.",
+    "Place the ceramic bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with brown outer rim, then carefully place the rounded bowl with light blue color on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the small bowl with brown edge over it.",
+    "Take the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside on top.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade using the left arm.",
+    "the rounded bowl with light blue color goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Pick up the blue bowl using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl on top.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl on top of the glazed bowl with curved sides.",
+    "Arrange the bowl with brown outer rim, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Pick the medium-sized bowl for holding food, then stack the ceramic bowl with earthy brown trim on it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the ceramic bowl.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Grab the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Grab the bowl with shiny texture, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the bowl with shiny texture and set the rounded bowl with light blue color on it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the curved bowl light blue shade on top.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Position the curved bowl light blue shade and stack the curved bowl light blue shade securely onto it.",
+    "Align the ceramic bowl and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the ceramic bowl.",
+    "Pick up the bowl with brown outer rim, place it down, then position the glazed bowl with curved sides on top.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Grab the small bowl with brown edge, set it down, then place the dark inside bowl light blue outside over it.",
+    "Hold the ceramic bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Lift the blue bowl with slightly rounded base, position the medium-sized bowl for holding food above it, and stack.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with brown outer rim.",
+    "Place the ceramic bowl with earthy brown trim down and stack the medium-sized bowl for holding food on top.",
+    "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.",
+    "Grab the blue bowl with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Take the ceramic bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the dark inside bowl light blue outside."
+  ],
+  "unseen": [
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode78.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode78.json
new file mode 100644
index 0000000000000000000000000000000000000000..088e7a3d63fa4ad48a9cc3c25f2475ae9f04b01a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode78.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the ceramic bowl and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the rounded bowl with light blue color, then stack the glazed bowl with curved sides on top.",
+    "Position the small bowl with brown edge with the arm, then set the bowl with shiny texture above it.",
+    "Take the small bowl with brown edge, position it, then stack the rounded bowl with light blue color directly above.",
+    "Stack the bowl with shiny texture securely on top of the dark inside bowl light blue outside.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the small bowl with brown edge.",
+    "Pick the rounded bowl with light blue color, position the blue bowl with slightly rounded base, and place it over the rounded bowl with light blue color.",
+    "Put the curved bowl light blue shade first, then bring the bowl with brown outer rim to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Hold the curved bowl light blue shade and stack the medium-sized bowl for holding food neatly atop.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Take the rounded bowl with light blue color, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the blue bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Pick up the ceramic bowl, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Place the bowl with shiny texture down, then set the medium-sized bowl for holding food above it.",
+    "Position the small bowl with brown edge, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the small bowl with brown edge.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with brown outer rim rests above.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the rounded bowl with light blue color over it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the blue bowl, grab the small bowl with brown edge, and set the small bowl with brown edge on the blue bowl.",
+    "Set down the small bowl with brown edge and drop the curved bowl light blue shade on top.",
+    "Arrange the rounded bowl with light blue color, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Grab the bowl with brown outer rim, then carefully place the glazed bowl with curved sides on top.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the bowl with brown outer rim above it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl over it.",
+    "Align the ceramic bowl and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, then stack it on the small bowl with brown edge.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the blue bowl on top.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the small bowl with brown edge using the right arm.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture and set the medium-sized bowl for holding food on it.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Grab the glazed bowl with curved sides, position it, and place the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the ceramic bowl.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Set the ceramic bowl with earthy brown trim over the small bowl with brown edge to create the stack.",
+    "Position the ceramic bowl and stack the blue bowl securely onto it.",
+    "Take the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the glazed bowl with curved sides, position the dark inside bowl light blue outside above it, and stack.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Pick up the ceramic bowl, grab the blue bowl, and stack the blue bowl on the ceramic bowl.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the blue bowl with slightly rounded base.",
+    "Grab the blue bowl with slightly rounded base, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the small bowl with brown edge with the arm, then set the small bowl with brown edge above it.",
+    "Take the glazed bowl with curved sides, position it, then stack the blue bowl directly above.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl with earthy brown trim.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Pick the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base, and place it over the ceramic bowl with earthy brown trim.",
+    "Put the medium-sized bowl for holding food first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Hold the ceramic bowl and stack the ceramic bowl neatly atop.",
+    "Pick the curved bowl light blue shade, then stack the ceramic bowl on it.",
+    "Take the dark inside bowl light blue outside, align the blue bowl, and stack them.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the bowl with shiny texture, and stack them.",
+    "Hold the curved bowl light blue shade steady and slide the rounded bowl with light blue color on.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl on top.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl on top of the bowl with shiny texture.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with shiny texture above it.",
+    "Position the bowl with brown outer rim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "the small bowl with brown edge goes at the bottom, the curved bowl light blue shade rests above.",
+    "Stack the dark inside bowl light blue outside carefully over the curved bowl light blue shade.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the rounded bowl with light blue color using the right arm.",
+    "Lift the rounded bowl with light blue color, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the rounded bowl with light blue color.",
+    "Set down the medium-sized bowl for holding food and drop the blue bowl with slightly rounded base on top.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Align the bowl with shiny texture over the curved bowl light blue shade, then complete the stack.",
+    "Set the ceramic bowl down, then add the medium-sized bowl for holding food over it.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Pick the ceramic bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Align the bowl with shiny texture and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Grab the rounded bowl with light blue color, position it, and place the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the blue bowl using the right arm.",
+    "Set the glazed bowl with curved sides over the blue bowl with slightly rounded base to create the stack.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Take the ceramic bowl, place it, and stack the dark inside bowl light blue outside on top.",
+    "Lift the medium-sized bowl for holding food, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Take the ceramic bowl, place the blue bowl above, and let go.",
+    "Pick up the bowl with shiny texture, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with shiny texture.",
+    "Place the bowl with shiny texture down and stack the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl and position it neatly over the small bowl with brown edge.",
+    "Grab the blue bowl, then stack the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode79.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode79.json
new file mode 100644
index 0000000000000000000000000000000000000000..efdd4d9c67c9a8dda6787e3e3244311cd52b30ad
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode79.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the glazed bowl with curved sides carefully on the blue bowl.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl above it.",
+    "Lift the blue bowl, put it on the table, and stack the bowl with shiny texture above.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the curved bowl light blue shade over it.",
+    "Place the dark inside bowl light blue outside down, then set the small bowl with brown edge on top of the dark inside bowl light blue outside.",
+    "Set down the glazed bowl with curved sides and drop the bowl with shiny texture on top.",
+    "Grab the bowl with shiny texture, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the blue bowl on top.",
+    "Arrange the bowl with shiny texture, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the blue bowl with the right arm.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Pick up the curved bowl light blue shade, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Pick the ceramic bowl, position on the table, and place the blue bowl over it.",
+    "Set the dark inside bowl light blue outside over the medium-sized bowl for holding food to create the stack.",
+    "Lift the bowl with brown outer rim, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Take the glazed bowl with curved sides, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Pick up the curved bowl light blue shade and set the medium-sized bowl for holding food on it.",
+    "Align the bowl with shiny texture and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl.",
+    "Take the rounded bowl with light blue color, align the bowl with shiny texture, and stack them.",
+    "Align the rounded bowl with light blue color over the small bowl with brown edge, then complete the stack.",
+    "Pick the blue bowl, position the ceramic bowl, and place it over the blue bowl.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the small bowl with brown edge.",
+    "Place the rounded bowl with light blue color on the surface, then stack the ceramic bowl above it.",
+    "With the right arm, lift the medium-sized bowl for holding food and stack the blue bowl using the right arm.",
+    "Grab the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the bowl with brown outer rim on top.",
+    "Set the medium-sized bowl for holding food down, then add the curved bowl light blue shade over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Position the ceramic bowl with earthy brown trim, lift the ceramic bowl, and place the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "Position the blue bowl with the arm, then set the blue bowl above it.",
+    "Position the small bowl with brown edge and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the ceramic bowl, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Take the bowl with brown outer rim, place the ceramic bowl with earthy brown trim above, and let go.",
+    "Put the rounded bowl with light blue color first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Place the bowl with brown outer rim down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the small bowl with brown edge, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Hold the small bowl with brown edge and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Pick up the glazed bowl with curved sides, grab the small bowl with brown edge, and stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Pick the bowl with brown outer rim, then stack the curved bowl light blue shade on it.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with shiny texture.",
+    "Stack the bowl with brown outer rim securely on top of the ceramic bowl with earthy brown trim.",
+    "Position the rounded bowl with light blue color carefully on the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture, then stack it on the dark inside bowl light blue outside.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge above it.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Grab the dark inside bowl light blue outside, position it, and place the glazed bowl with curved sides on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the curved bowl light blue shade on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl on top of the glazed bowl with curved sides.",
+    "Set down the curved bowl light blue shade and drop the rounded bowl with light blue color on top.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl on top.",
+    "Arrange the rounded bowl with light blue color, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Hold the small bowl with brown edge steady and slide the small bowl with brown edge on.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the bowl with shiny texture on top.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the bowl with shiny texture using the right arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the bowl with shiny texture over it.",
+    "Set the blue bowl over the bowl with brown outer rim to create the stack.",
+    "Lift the rounded bowl with light blue color, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the rounded bowl with light blue color.",
+    "Take the blue bowl, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the glazed bowl with curved sides and set the rounded bowl with light blue color on it.",
+    "Align the blue bowl and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Take the ceramic bowl with earthy brown trim, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Align the bowl with brown outer rim over the medium-sized bowl for holding food, then complete the stack.",
+    "Pick the glazed bowl with curved sides, position the ceramic bowl, and place it over the glazed bowl with curved sides.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Place the curved bowl light blue shade on the surface, then stack the curved bowl light blue shade above it.",
+    "With the right arm, lift the bowl with brown outer rim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with shiny texture on top.",
+    "Set the glazed bowl with curved sides down, then add the dark inside bowl light blue outside over it.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Position the dark inside bowl light blue outside, lift the small bowl with brown edge, and place the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with brown outer rim above it.",
+    "Position the blue bowl and stack the ceramic bowl securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.",
+    "Take the small bowl with brown edge, place the medium-sized bowl for holding food above, and let go.",
+    "Put the bowl with brown outer rim first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the right arm for the ceramic bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Place the ceramic bowl down and stack the rounded bowl with light blue color on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Hold the ceramic bowl with earthy brown trim and stack the small bowl with brown edge neatly atop.",
+    "Pick up the blue bowl with slightly rounded base, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the blue bowl with slightly rounded base.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Position the glazed bowl with curved sides carefully on the ceramic bowl.",
+    "Lift the blue bowl, then stack it on the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode8.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode8.json
new file mode 100644
index 0000000000000000000000000000000000000000..12c7273c708d2db482a30ee095d5c0faa3a64ef5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode8.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the curved bowl light blue shade down, then add the dark inside bowl light blue outside over it.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the blue bowl on top.",
+    "Hold the small bowl with brown edge steady and slide the rounded bowl with light blue color on.",
+    "Set down the dark inside bowl light blue outside and drop the glazed bowl with curved sides on top.",
+    "Align the small bowl with brown edge and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the small bowl with brown edge.",
+    "Put the rounded bowl with light blue color first, then bring the rounded bowl with light blue color to stack above.",
+    "Position the rounded bowl with light blue color with the arm, then set the curved bowl light blue shade above it.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside and set the bowl with shiny texture on it.",
+    "Lift the blue bowl using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Stack the ceramic bowl carefully over the curved bowl light blue shade.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the bowl with brown outer rim over it.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick the bowl with shiny texture, position the medium-sized bowl for holding food, and place it over the bowl with shiny texture.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl.",
+    "Lift the bowl with brown outer rim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the curved bowl light blue shade, then stack it on the rounded bowl with light blue color.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "Take the curved bowl light blue shade, place it, and stack the blue bowl on top.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Pick the glazed bowl with curved sides, then stack the rounded bowl with light blue color on it.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the medium-sized bowl for holding food down, then set the ceramic bowl with earthy brown trim on top of the medium-sized bowl for holding food.",
+    "Arrange the blue bowl with slightly rounded base, lift the bowl with brown outer rim with the arm, and stack them.",
+    "With the right arm, lift the curved bowl light blue shade and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Lift the medium-sized bowl for holding food, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "Grab the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on top.",
+    "Place the glazed bowl with curved sides down and stack the small bowl with brown edge on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with shiny texture on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Position the ceramic bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the ceramic bowl.",
+    "Position the rounded bowl with light blue color and stack the small bowl with brown edge securely onto it.",
+    "Take the glazed bowl with curved sides, align the small bowl with brown edge, and stack them.",
+    "Use the arm to place the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl with slightly rounded base over the ceramic bowl, then complete the stack.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl directly above.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the blue bowl.",
+    "Set the curved bowl light blue shade over the bowl with shiny texture to create the stack.",
+    "the rounded bowl with light blue color goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Set the glazed bowl with curved sides down, then add the ceramic bowl with earthy brown trim over it.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the small bowl with brown edge on top.",
+    "Hold the bowl with shiny texture steady and slide the blue bowl with slightly rounded base on.",
+    "Set down the dark inside bowl light blue outside and drop the bowl with brown outer rim on top.",
+    "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.",
+    "Put the curved bowl light blue shade first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Position the curved bowl light blue shade with the arm, then set the curved bowl light blue shade above it.",
+    "Take the bowl with shiny texture, place the dark inside bowl light blue outside above, and let go.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with shiny texture on it.",
+    "Lift the blue bowl with slightly rounded base using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Stack the glazed bowl with curved sides carefully over the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Pick the small bowl with brown edge, position the dark inside bowl light blue outside, and place it over the small bowl with brown edge.",
+    "Place the ceramic bowl down, then set the blue bowl above it.",
+    "Pick up the small bowl with brown edge, place it down, then position the blue bowl on top.",
+    "Stack the bowl with shiny texture securely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the curved bowl light blue shade.",
+    "Lift the small bowl with brown edge, position the small bowl with brown edge above it, and stack.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Hold the curved bowl light blue shade and stack the bowl with brown outer rim neatly atop.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the bowl with brown outer rim, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the ceramic bowl down, then set the small bowl with brown edge on top of the ceramic bowl.",
+    "Arrange the medium-sized bowl for holding food, lift the bowl with shiny texture with the arm, and stack them.",
+    "With the right arm, lift the blue bowl and stack the blue bowl using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl with earthy brown trim.",
+    "Grab the glazed bowl with curved sides, then stack the rounded bowl with light blue color on top.",
+    "Place the blue bowl down and stack the small bowl with brown edge on top.",
+    "Grab the small bowl with brown edge, then carefully place the blue bowl with slightly rounded base on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Position the bowl with shiny texture, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Use the arm to place the small bowl with brown edge, then stack the medium-sized bowl for holding food on top.",
+    "Align the blue bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Take the medium-sized bowl for holding food, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the bowl with shiny texture, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Grasp the blue bowl, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the bowl with shiny texture.",
+    "Set the medium-sized bowl for holding food over the bowl with brown outer rim to create the stack.",
+    "the medium-sized bowl for holding food goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Set the rounded bowl with light blue color down, then add the blue bowl over it.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode80.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode80.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0e1364d2f20112262744aa66971d8f341f49f3d
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode80.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the small bowl with brown edge, position on the table, and place the small bowl with brown edge over it.",
+    "Stack the medium-sized bowl for holding food carefully over the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "With the right arm, lift the bowl with shiny texture and stack the rounded bowl with light blue color using the left arm.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Lift the blue bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Hold the blue bowl and stack the bowl with brown outer rim neatly atop.",
+    "Lift the bowl with brown outer rim and position it neatly over the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture and stack the medium-sized bowl for holding food securely onto it.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with brown outer rim on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl, position the dark inside bowl light blue outside above it, and stack.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the bowl with shiny texture above.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Grab the dark inside bowl light blue outside, then carefully place the glazed bowl with curved sides on top.",
+    "Stack the small bowl with brown edge securely on top of the curved bowl light blue shade.",
+    "Pick the curved bowl light blue shade, position the curved bowl light blue shade, and place it over the curved bowl light blue shade.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with shiny texture on top.",
+    "Take the curved bowl light blue shade, place the ceramic bowl above, and let go.",
+    "Grab the bowl with shiny texture, then stack the dark inside bowl light blue outside on top.",
+    "Position the blue bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the blue bowl.",
+    "Pick up the blue bowl and set the blue bowl on it.",
+    "Align the bowl with shiny texture and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the bowl with shiny texture.",
+    "Take the bowl with brown outer rim, align the glazed bowl with curved sides, and stack them.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the ceramic bowl using the left arm.",
+    "Place the small bowl with brown edge down and stack the curved bowl light blue shade on top.",
+    "Place the small bowl with brown edge on the surface, then stack the small bowl with brown edge above it.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Set down the bowl with brown outer rim and drop the dark inside bowl light blue outside on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "the small bowl with brown edge goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Arrange the rounded bowl with light blue color, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Grab the small bowl with brown edge, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Set the blue bowl over the blue bowl to create the stack.",
+    "Align the medium-sized bowl for holding food over the rounded bowl with light blue color, then complete the stack.",
+    "Lift the bowl with shiny texture, then stack it on the ceramic bowl.",
+    "Lift the bowl with brown outer rim, stack it precisely on top of the ceramic bowl.",
+    "Lift the blue bowl, grab the ceramic bowl, and set the ceramic bowl on the blue bowl.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl with earthy brown trim.",
+    "Hold the bowl with brown outer rim steady and slide the bowl with brown outer rim on.",
+    "Place the rounded bowl with light blue color down, then set the blue bowl with slightly rounded base on top of the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside down, then set the dark inside bowl light blue outside above it.",
+    "Pick the small bowl with brown edge, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "With the right arm, lift the curved bowl light blue shade and stack the dark inside bowl light blue outside using the left arm.",
+    "Pick up the blue bowl with slightly rounded base, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Use the arm to place the small bowl with brown edge, then stack the ceramic bowl on top.",
+    "Take the curved bowl light blue shade, place it, and stack the rounded bowl with light blue color on top.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Lift the blue bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Grab the curved bowl light blue shade, position it, and place the curved bowl light blue shade on top.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the small bowl with brown edge on top.",
+    "Lift the bowl with brown outer rim, position the dark inside bowl light blue outside above it, and stack.",
+    "Take the small bowl with brown edge, position it, then stack the blue bowl directly above.",
+    "Lift the ceramic bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with shiny texture.",
+    "Pick the ceramic bowl with earthy brown trim, position the dark inside bowl light blue outside, and place it over the ceramic bowl with earthy brown trim.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, lay it down, and stack the bowl with brown outer rim on top.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Grab the bowl with shiny texture, then stack the blue bowl with slightly rounded base on top.",
+    "Position the medium-sized bowl for holding food, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Take the bowl with shiny texture, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the blue bowl using the right arm, then stack the blue bowl using the left arm.",
+    "Place the ceramic bowl down and stack the ceramic bowl with earthy brown trim on top.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Pick the dark inside bowl light blue outside, then stack the medium-sized bowl for holding food on it.",
+    "Set down the blue bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Position the curved bowl light blue shade with the arm, then set the glazed bowl with curved sides above it.",
+    "the curved bowl light blue shade goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set the ceramic bowl down, then add the blue bowl over it.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Use the right arm for the blue bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Align the bowl with brown outer rim over the bowl with brown outer rim, then complete the stack.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Lift the curved bowl light blue shade, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Position the glazed bowl with curved sides carefully on the dark inside bowl light blue outside.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Place the medium-sized bowl for holding food down, then set the blue bowl on top of the medium-sized bowl for holding food.",
+    "Place the glazed bowl with curved sides down, then set the blue bowl above it.",
+    "Pick the bowl with brown outer rim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Stack the glazed bowl with curved sides carefully over the medium-sized bowl for holding food."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode81.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode81.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c8af37c4ca13d280fb2425818be2fe56f0f1dc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode81.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the ceramic bowl with earthy brown trim, then stack the bowl with brown outer rim on it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the dark inside bowl light blue outside over it.",
+    "Position the bowl with shiny texture, lift the ceramic bowl, and place the ceramic bowl on the bowl with shiny texture.",
+    "Place the curved bowl light blue shade down, then set the glazed bowl with curved sides above it.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Grab the blue bowl, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Set the rounded bowl with light blue color over the ceramic bowl with earthy brown trim to create the stack.",
+    "Grab the bowl with brown outer rim, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the dark inside bowl light blue outside, place it, and stack the bowl with shiny texture on top.",
+    "Use the left arm for the ceramic bowl, place it, and stack the ceramic bowl with the right arm.",
+    "Pick up the glazed bowl with curved sides, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Place the blue bowl with slightly rounded base down and stack the medium-sized bowl for holding food on top.",
+    "Stack the ceramic bowl carefully over the dark inside bowl light blue outside.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Lift the rounded bowl with light blue color, then stack it on the medium-sized bowl for holding food.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the dark inside bowl light blue outside over it.",
+    "Take the bowl with brown outer rim, place the ceramic bowl above, and let go.",
+    "Align the medium-sized bowl for holding food over the curved bowl light blue shade, then complete the stack.",
+    "Position the bowl with shiny texture and stack the bowl with shiny texture securely onto it.",
+    "Lift the blue bowl, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Hold the dark inside bowl light blue outside and stack the ceramic bowl neatly atop.",
+    "Set down the glazed bowl with curved sides and drop the bowl with shiny texture on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Grab the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Grab the bowl with shiny texture, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Arrange the blue bowl, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color, then carefully place the medium-sized bowl for holding food on top.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, position it, then stack the curved bowl light blue shade directly above.",
+    "Take the small bowl with brown edge, align the curved bowl light blue shade, and stack them.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the curved bowl light blue shade above it.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Lift the bowl with shiny texture, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Pick up the small bowl with brown edge, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the dark inside bowl light blue outside with the arm, then set the ceramic bowl above it.",
+    "Position the rounded bowl with light blue color carefully on the blue bowl.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Hold the bowl with brown outer rim steady and slide the small bowl with brown edge on.",
+    "Align the medium-sized bowl for holding food and the blue bowl, then stack the blue bowl on the medium-sized bowl for holding food.",
+    "the small bowl with brown edge goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick up the bowl with brown outer rim and set the ceramic bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim, position the curved bowl light blue shade above it, and stack.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Pick the curved bowl light blue shade, then stack the small bowl with brown edge on it.",
+    "Set the rounded bowl with light blue color down, then add the curved bowl light blue shade over it.",
+    "Position the rounded bowl with light blue color, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim above it.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl on top.",
+    "Grab the medium-sized bowl for holding food, position it, and place the bowl with shiny texture on top.",
+    "Lift the blue bowl using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Set the bowl with brown outer rim over the dark inside bowl light blue outside to create the stack.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Take the rounded bowl with light blue color, place it, and stack the small bowl with brown edge on top.",
+    "Use the left arm for the blue bowl with slightly rounded base, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Place the ceramic bowl down and stack the blue bowl on top.",
+    "Stack the ceramic bowl carefully over the bowl with brown outer rim.",
+    "Pick the bowl with shiny texture, position the rounded bowl with light blue color, and place it over the bowl with shiny texture.",
+    "Lift the ceramic bowl, then stack it on the medium-sized bowl for holding food.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl over it.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Align the medium-sized bowl for holding food over the dark inside bowl light blue outside, then complete the stack.",
+    "Position the bowl with shiny texture and stack the rounded bowl with light blue color securely onto it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with shiny texture.",
+    "Hold the curved bowl light blue shade and stack the ceramic bowl neatly atop.",
+    "Set down the blue bowl and drop the medium-sized bowl for holding food on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with shiny texture with the arm, and stack them.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.",
+    "Use the arm to place the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the bowl with brown outer rim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Take the glazed bowl with curved sides, align the bowl with brown outer rim, and stack them.",
+    "Place the curved bowl light blue shade on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the small bowl with brown edge and position it neatly over the small bowl with brown edge.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the rounded bowl with light blue color above.",
+    "With the left arm, lift the blue bowl and stack the rounded bowl with light blue color using the right arm.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Position the blue bowl carefully on the glazed bowl with curved sides.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Stack the ceramic bowl securely on top of the blue bowl.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Hold the glazed bowl with curved sides steady and slide the curved bowl light blue shade on.",
+    "Align the dark inside bowl light blue outside and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "the dark inside bowl light blue outside goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Pick up the ceramic bowl and set the ceramic bowl with earthy brown trim on it.",
+    "Lift the blue bowl with slightly rounded base, position the bowl with brown outer rim above it, and stack.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl on top of the curved bowl light blue shade.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl on it.",
+    "Set the blue bowl down, then add the ceramic bowl with earthy brown trim over it."
+  ],
+  "unseen": [
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode82.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode82.json
new file mode 100644
index 0000000000000000000000000000000000000000..df09eb58b1951676ab55ab342892409040040339
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode82.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bowl with shiny texture, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Stack the glazed bowl with curved sides securely on top of the curved bowl light blue shade.",
+    "Grab the ceramic bowl, then carefully place the bowl with brown outer rim on top.",
+    "Pick the small bowl with brown edge, then stack the rounded bowl with light blue color on it.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, position the glazed bowl with curved sides, and place it over the curved bowl light blue shade.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl above, and let go.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl using the left arm.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl with slightly rounded base over it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Lift the medium-sized bowl for holding food, position the rounded bowl with light blue color above it, and stack.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the ceramic bowl on the surface, then stack the glazed bowl with curved sides above it.",
+    "Set the rounded bowl with light blue color over the glazed bowl with curved sides to create the stack.",
+    "the ceramic bowl goes at the bottom, the rounded bowl with light blue color rests above.",
+    "Grab the curved bowl light blue shade, set it down, then place the small bowl with brown edge over it.",
+    "Grab the bowl with shiny texture, position it, and place the medium-sized bowl for holding food on top.",
+    "Stack the bowl with shiny texture carefully over the bowl with shiny texture.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the ceramic bowl with earthy brown trim.",
+    "Place the bowl with brown outer rim down and stack the medium-sized bowl for holding food on top.",
+    "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Place the blue bowl down, then set the rounded bowl with light blue color above it.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the blue bowl on top.",
+    "Set down the dark inside bowl light blue outside and drop the blue bowl with slightly rounded base on top.",
+    "Use the right arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Take the dark inside bowl light blue outside, align the dark inside bowl light blue outside, and stack them.",
+    "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.",
+    "Take the dark inside bowl light blue outside, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, grab the small bowl with brown edge, and set the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the bowl with brown outer rim.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Grab the bowl with brown outer rim with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Align the rounded bowl with light blue color over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Position the small bowl with brown edge carefully on the blue bowl with slightly rounded base.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Hold the blue bowl steady and slide the dark inside bowl light blue outside on.",
+    "Position the blue bowl, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl.",
+    "Hold the blue bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the blue bowl, and stack them.",
+    "Stack the rounded bowl with light blue color securely on top of the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Pick the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the bowl with shiny texture over it.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick the ceramic bowl, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl.",
+    "Take the ceramic bowl, place the ceramic bowl above, and let go.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl using the left arm.",
+    "Set the bowl with shiny texture down, then add the ceramic bowl with earthy brown trim over it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the rounded bowl with light blue color using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl on top of the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, position the rounded bowl with light blue color above it, and stack.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it.",
+    "Set the glazed bowl with curved sides over the ceramic bowl with earthy brown trim to create the stack.",
+    "the ceramic bowl goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Grab the bowl with brown outer rim, set it down, then place the dark inside bowl light blue outside over it.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Stack the blue bowl with slightly rounded base carefully over the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, then stack it on the bowl with shiny texture.",
+    "Place the rounded bowl with light blue color down and stack the curved bowl light blue shade on top.",
+    "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.",
+    "Grasp the blue bowl, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with brown outer rim above it.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl, place it, and stack the blue bowl on top.",
+    "Set down the bowl with brown outer rim and drop the rounded bowl with light blue color on top.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Take the bowl with shiny texture, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Position the bowl with brown outer rim with the arm, then set the bowl with brown outer rim above it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the ceramic bowl directly above.",
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the bowl with shiny texture.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "Put the curved bowl light blue shade first, then bring the small bowl with brown edge to stack above.",
+    "Align the curved bowl light blue shade and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Grab the blue bowl with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Position the blue bowl carefully on the ceramic bowl with earthy brown trim.",
+    "Pick up the rounded bowl with light blue color, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the rounded bowl with light blue color.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the small bowl with brown edge on.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Hold the curved bowl light blue shade and stack the rounded bowl with light blue color neatly atop.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the dark inside bowl light blue outside using the left arm.",
+    "Grab the ceramic bowl, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Stack the curved bowl light blue shade securely on top of the bowl with brown outer rim."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode83.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode83.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6e576c4d5fd57791cfbe1f6686598a5d45acb60
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode83.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the glazed bowl with curved sides, lift it up, position the blue bowl, and stack them.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Lift the medium-sized bowl for holding food, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick the curved bowl light blue shade, then stack the small bowl with brown edge on it.",
+    "Grab the rounded bowl with light blue color with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Lift the small bowl with brown edge, position the ceramic bowl with earthy brown trim above it, and stack.",
+    "Put the blue bowl with slightly rounded base first, then bring the glazed bowl with curved sides to stack above.",
+    "Place the glazed bowl with curved sides on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food above it.",
+    "the glazed bowl with curved sides goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Arrange the ceramic bowl, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Take the bowl with shiny texture, position it, then stack the bowl with brown outer rim directly above.",
+    "Stack the rounded bowl with light blue color carefully over the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Take the medium-sized bowl for holding food, place the bowl with brown outer rim above, and let go.",
+    "Set the curved bowl light blue shade down, then add the bowl with shiny texture over it.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the ceramic bowl.",
+    "Hold the blue bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Take the dark inside bowl light blue outside, align the small bowl with brown edge, and stack them.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the blue bowl, then stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Position the glazed bowl with curved sides, lift the blue bowl, and place the blue bowl on the glazed bowl with curved sides.",
+    "Set down the blue bowl with slightly rounded base and drop the curved bowl light blue shade on top.",
+    "Take the medium-sized bowl for holding food, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Pick the bowl with shiny texture, position the blue bowl, and place it over the bowl with shiny texture.",
+    "Position the bowl with brown outer rim carefully on the glazed bowl with curved sides.",
+    "With the right arm, lift the blue bowl and stack the curved bowl light blue shade using the left arm.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Align the blue bowl with slightly rounded base over the blue bowl, then complete the stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Set the blue bowl over the ceramic bowl to create the stack.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the glazed bowl with curved sides over it.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Place the ceramic bowl down and stack the bowl with shiny texture on top.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl securely onto it.",
+    "Pick up the bowl with shiny texture, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Align the dark inside bowl light blue outside and the bowl with brown outer rim, then stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the blue bowl with slightly rounded base on top.",
+    "Stack the ceramic bowl securely on top of the rounded bowl with light blue color.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Hold the glazed bowl with curved sides steady and slide the rounded bowl with light blue color on.",
+    "Place the rounded bowl with light blue color down, then set the dark inside bowl light blue outside on top of the rounded bowl with light blue color.",
+    "Grab the ceramic bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick the glazed bowl with curved sides, then stack the rounded bowl with light blue color on it.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Lift the ceramic bowl, position the bowl with brown outer rim above it, and stack.",
+    "Put the ceramic bowl first, then bring the blue bowl to stack above.",
+    "Place the bowl with shiny texture on the surface, then stack the rounded bowl with light blue color above it.",
+    "Place the bowl with brown outer rim down, then set the bowl with shiny texture above it.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with shiny texture rests above.",
+    "Grab the curved bowl light blue shade, set it down, then place the bowl with shiny texture over it.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, position it, then stack the glazed bowl with curved sides directly above.",
+    "Stack the curved bowl light blue shade carefully over the medium-sized bowl for holding food.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the medium-sized bowl for holding food, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Position the curved bowl light blue shade with the arm, then set the blue bowl above it.",
+    "Take the medium-sized bowl for holding food, place the small bowl with brown edge above, and let go.",
+    "Set the rounded bowl with light blue color down, then add the dark inside bowl light blue outside over it.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the small bowl with brown edge.",
+    "Hold the ceramic bowl with earthy brown trim and stack the blue bowl neatly atop.",
+    "Take the medium-sized bowl for holding food, align the glazed bowl with curved sides, and stack them.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl on top.",
+    "Lift the blue bowl, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the blue bowl.",
+    "Position the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Set down the small bowl with brown edge and drop the bowl with brown outer rim on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, position the dark inside bowl light blue outside, and place it over the bowl with brown outer rim.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "With the right arm, lift the bowl with shiny texture and stack the small bowl with brown edge using the left arm.",
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Align the bowl with shiny texture over the ceramic bowl, then complete the stack.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl.",
+    "Set the blue bowl with slightly rounded base over the medium-sized bowl for holding food to create the stack.",
+    "Pick the bowl with brown outer rim, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick up the rounded bowl with light blue color and set the medium-sized bowl for holding food on it.",
+    "Place the curved bowl light blue shade down and stack the curved bowl light blue shade on top.",
+    "Position the curved bowl light blue shade and stack the glazed bowl with curved sides securely onto it.",
+    "Pick up the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Align the bowl with shiny texture and the bowl with shiny texture, then stack the bowl with shiny texture on the bowl with shiny texture.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the small bowl with brown edge, place it down, then position the medium-sized bowl for holding food on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with shiny texture.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Hold the blue bowl steady and slide the medium-sized bowl for holding food on.",
+    "Place the dark inside bowl light blue outside down, then set the medium-sized bowl for holding food on top of the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, lift it up, position the blue bowl, and stack them.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the ceramic bowl using the left arm."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode84.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode84.json
new file mode 100644
index 0000000000000000000000000000000000000000..529afbc63af560b69604c9f7020fd793f07b9cec
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode84.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bowl with the left arm, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the dark inside bowl light blue outside, then stack the curved bowl light blue shade on it.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the small bowl with brown edge.",
+    "Set the bowl with brown outer rim down, then add the curved bowl light blue shade over it.",
+    "the dark inside bowl light blue outside goes at the bottom, the ceramic bowl rests above.",
+    "Set down the bowl with shiny texture and drop the glazed bowl with curved sides on top.",
+    "Position the blue bowl, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the blue bowl.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl over it.",
+    "Take the ceramic bowl, place the dark inside bowl light blue outside above, and let go.",
+    "Align the glazed bowl with curved sides over the small bowl with brown edge, then complete the stack.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the curved bowl light blue shade.",
+    "Arrange the medium-sized bowl for holding food, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Pick up the ceramic bowl with earthy brown trim and set the rounded bowl with light blue color on it.",
+    "Pick up the medium-sized bowl for holding food, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Position the blue bowl with slightly rounded base carefully on the dark inside bowl light blue outside.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.",
+    "Take the curved bowl light blue shade, place it, and stack the bowl with shiny texture on top.",
+    "Grab the blue bowl with slightly rounded base, then stack the medium-sized bowl for holding food on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick the medium-sized bowl for holding food, position the dark inside bowl light blue outside, and place it over the medium-sized bowl for holding food.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with brown outer rim securely onto it.",
+    "Place the curved bowl light blue shade on the surface, then stack the blue bowl above it.",
+    "Put the ceramic bowl first, then bring the ceramic bowl to stack above.",
+    "Position the glazed bowl with curved sides with the arm, then set the blue bowl above it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Hold the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the ceramic bowl with earthy brown trim, align the rounded bowl with light blue color, and stack them.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl above.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Set the blue bowl with slightly rounded base over the medium-sized bowl for holding food to create the stack.",
+    "Lift the blue bowl with slightly rounded base, position the ceramic bowl above it, and stack.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Lift the bowl with brown outer rim, grab the medium-sized bowl for holding food, and set the medium-sized bowl for holding food on the bowl with brown outer rim.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the rounded bowl with light blue color and stack the bowl with shiny texture using the right arm.",
+    "Place the rounded bowl with light blue color down and stack the rounded bowl with light blue color on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the curved bowl light blue shade.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Align the glazed bowl with curved sides and the blue bowl, then stack the blue bowl on the glazed bowl with curved sides.",
+    "Hold the bowl with shiny texture steady and slide the ceramic bowl on.",
+    "Lift the bowl with brown outer rim and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Place the glazed bowl with curved sides down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the bowl with brown outer rim.",
+    "Set the blue bowl down, then add the rounded bowl with light blue color over it.",
+    "the bowl with shiny texture goes at the bottom, the curved bowl light blue shade rests above.",
+    "Set down the rounded bowl with light blue color and drop the medium-sized bowl for holding food on top.",
+    "Position the rounded bowl with light blue color, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Lift the glazed bowl with curved sides using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Take the ceramic bowl with earthy brown trim, place the curved bowl light blue shade above, and let go.",
+    "Align the dark inside bowl light blue outside over the ceramic bowl, then complete the stack.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color on top of the small bowl with brown edge.",
+    "Stack the curved bowl light blue shade securely on top of the ceramic bowl.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with the arm, and stack them.",
+    "Stack the small bowl with brown edge carefully over the curved bowl light blue shade.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "Pick up the glazed bowl with curved sides, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Position the small bowl with brown edge carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the rounded bowl with light blue color, then carefully place the rounded bowl with light blue color on top.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, then stack the bowl with brown outer rim on top.",
+    "Take the bowl with shiny texture, position it, then stack the blue bowl directly above.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the ceramic bowl with the right arm.",
+    "Pick the glazed bowl with curved sides, position the bowl with brown outer rim, and place it over the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides and stack the ceramic bowl securely onto it.",
+    "Place the bowl with brown outer rim on the surface, then stack the rounded bowl with light blue color above it.",
+    "Put the rounded bowl with light blue color first, then bring the small bowl with brown edge to stack above.",
+    "Position the blue bowl with the arm, then set the bowl with shiny texture above it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Hold the bowl with brown outer rim and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the small bowl with brown edge, align the bowl with brown outer rim, and stack them.",
+    "Lift the ceramic bowl, put it on the table, and stack the bowl with brown outer rim above.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Set the bowl with shiny texture over the dark inside bowl light blue outside to create the stack.",
+    "Lift the dark inside bowl light blue outside, position the ceramic bowl above it, and stack.",
+    "Use the arm to place the curved bowl light blue shade, then stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the medium-sized bowl for holding food, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the rounded bowl with light blue color on top.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the dark inside bowl light blue outside using the right arm.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl on top.",
+    "Lift the bowl with shiny texture, then stack it on the bowl with shiny texture.",
+    "Lift the blue bowl, stack it precisely on top of the small bowl with brown edge.",
+    "Grab the ceramic bowl, set it down, then place the glazed bowl with curved sides over it.",
+    "Align the dark inside bowl light blue outside and the bowl with shiny texture, then stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Hold the dark inside bowl light blue outside steady and slide the medium-sized bowl for holding food on.",
+    "Lift the bowl with shiny texture and position it neatly over the bowl with shiny texture.",
+    "Grab the glazed bowl with curved sides with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on it."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode85.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode85.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5e473a24b588be9b9a2e57bcdeea2296f46ffa6
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode85.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bowl with shiny texture, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the bowl with shiny texture.",
+    "Put the ceramic bowl first, then bring the bowl with shiny texture to stack above.",
+    "Place the curved bowl light blue shade down and stack the bowl with shiny texture on top.",
+    "Lift the bowl with shiny texture, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the small bowl with brown edge, and stack them.",
+    "With the left arm, lift the blue bowl and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the small bowl with brown edge over it.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the small bowl with brown edge directly above.",
+    "Pick up the dark inside bowl light blue outside and set the glazed bowl with curved sides on it.",
+    "Lift the bowl with brown outer rim, then stack it on the curved bowl light blue shade.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the curved bowl light blue shade on it.",
+    "Take the bowl with brown outer rim, place the curved bowl light blue shade above, and let go.",
+    "Hold the dark inside bowl light blue outside steady and slide the bowl with shiny texture on.",
+    "Grab the glazed bowl with curved sides, then carefully place the medium-sized bowl for holding food on top.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Grab the ceramic bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Position the dark inside bowl light blue outside, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the dark inside bowl light blue outside.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the curved bowl light blue shade.",
+    "Align the medium-sized bowl for holding food over the glazed bowl with curved sides, then complete the stack.",
+    "Pick up the blue bowl with slightly rounded base, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "Grab the bowl with brown outer rim, then stack the dark inside bowl light blue outside on top.",
+    "Position the blue bowl with slightly rounded base and stack the curved bowl light blue shade securely onto it.",
+    "Set the dark inside bowl light blue outside down, then add the curved bowl light blue shade over it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the blue bowl on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.",
+    "Pick the blue bowl, position the blue bowl with slightly rounded base, and place it over the blue bowl.",
+    "Set down the bowl with shiny texture and drop the bowl with shiny texture on top.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Place the blue bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Lift the blue bowl using the left arm, set it down, and stack the medium-sized bowl for holding food using the right arm.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with slightly rounded base with the right arm.",
+    "Position the curved bowl light blue shade with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Hold the blue bowl with slightly rounded base and stack the small bowl with brown edge neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the medium-sized bowl for holding food above it.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Take the bowl with shiny texture, align the medium-sized bowl for holding food, and stack them.",
+    "Align the blue bowl with slightly rounded base and the bowl with brown outer rim, then stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl.",
+    "Put the bowl with shiny texture first, then bring the ceramic bowl to stack above.",
+    "Place the curved bowl light blue shade down and stack the glazed bowl with curved sides on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "With the left arm, lift the bowl with shiny texture and stack the medium-sized bowl for holding food using the right arm.",
+    "Pick the ceramic bowl, position on the table, and place the bowl with shiny texture over it.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl directly above.",
+    "Pick up the blue bowl and set the bowl with shiny texture on it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the rounded bowl with light blue color.",
+    "the dark inside bowl light blue outside goes at the bottom, the bowl with brown outer rim rests above.",
+    "Pick the bowl with shiny texture, then stack the dark inside bowl light blue outside on it.",
+    "Take the bowl with shiny texture, place the glazed bowl with curved sides above, and let go.",
+    "Hold the small bowl with brown edge steady and slide the small bowl with brown edge on.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Set the glazed bowl with curved sides over the blue bowl with slightly rounded base to create the stack.",
+    "Grab the bowl with brown outer rim, position it, and place the blue bowl on top.",
+    "Position the dark inside bowl light blue outside, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the ceramic bowl.",
+    "Align the bowl with shiny texture over the curved bowl light blue shade, then complete the stack.",
+    "Pick up the rounded bowl with light blue color, grab the blue bowl, and stack the blue bowl on the rounded bowl with light blue color.",
+    "Grab the bowl with shiny texture, then stack the glazed bowl with curved sides on top.",
+    "Position the curved bowl light blue shade and stack the rounded bowl with light blue color securely onto it.",
+    "Set the dark inside bowl light blue outside down, then add the glazed bowl with curved sides over it.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with the arm, and stack them.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the ceramic bowl above.",
+    "Stack the curved bowl light blue shade securely on top of the blue bowl.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the glazed bowl with curved sides.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Lift the bowl with shiny texture and position it neatly over the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color, position the bowl with brown outer rim above it, and stack.",
+    "Pick up the blue bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Pick the blue bowl, position the glazed bowl with curved sides, and place it over the blue bowl.",
+    "Set down the curved bowl light blue shade and drop the curved bowl light blue shade on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the small bowl with brown edge over it.",
+    "Use the arm to place the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Place the bowl with brown outer rim on the surface, then stack the bowl with brown outer rim above it.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the rounded bowl with light blue color using the right arm.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Position the small bowl with brown edge with the arm, then set the glazed bowl with curved sides above it.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food on top of the rounded bowl with light blue color.",
+    "Hold the ceramic bowl and stack the blue bowl neatly atop.",
+    "Place the bowl with shiny texture down, then set the ceramic bowl above it.",
+    "Stack the bowl with brown outer rim carefully over the small bowl with brown edge.",
+    "Take the ceramic bowl, align the ceramic bowl, and stack them.",
+    "Align the bowl with brown outer rim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the bowl with brown outer rim.",
+    "Lift the ceramic bowl with earthy brown trim, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the ceramic bowl with earthy brown trim to stack above."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode86.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode86.json
new file mode 100644
index 0000000000000000000000000000000000000000..91ab96c949177b83d7e9655fe1546a1332cff04e
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode86.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside on top of the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Grab the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the curved bowl light blue shade over it.",
+    "Place the ceramic bowl on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the blue bowl on top.",
+    "Position the ceramic bowl with earthy brown trim, lift the small bowl with brown edge, and place the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Pick up the medium-sized bowl for holding food, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Use the right arm for the ceramic bowl, place it, and stack the small bowl with brown edge with the left arm.",
+    "Take the blue bowl with slightly rounded base, align the small bowl with brown edge, and stack them.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Grasp the bowl with brown outer rim, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Position the bowl with shiny texture carefully on the blue bowl.",
+    "Grab the glazed bowl with curved sides, then carefully place the ceramic bowl with earthy brown trim on top.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl above.",
+    "Stack the glazed bowl with curved sides carefully over the small bowl with brown edge.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl, and stack them.",
+    "Position the glazed bowl with curved sides and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the small bowl with brown edge, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the small bowl with brown edge.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the bowl with brown outer rim.",
+    "Take the blue bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the blue bowl, then stack it on the blue bowl.",
+    "With the right arm, lift the dark inside bowl light blue outside and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Place the bowl with shiny texture down and stack the ceramic bowl with earthy brown trim on top.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.",
+    "Take the blue bowl, position it, then stack the bowl with brown outer rim directly above.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Align the dark inside bowl light blue outside over the small bowl with brown edge, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the small bowl with brown edge on top.",
+    "Set the dark inside bowl light blue outside over the small bowl with brown edge to create the stack.",
+    "Pick the blue bowl, then stack the small bowl with brown edge on it.",
+    "Hold the blue bowl steady and slide the blue bowl on.",
+    "Stack the small bowl with brown edge securely on top of the small bowl with brown edge.",
+    "Pick up the bowl with shiny texture and set the dark inside bowl light blue outside on it.",
+    "Arrange the bowl with brown outer rim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the small bowl with brown edge over it.",
+    "Put the small bowl with brown edge first, then bring the blue bowl to stack above.",
+    "Lift the rounded bowl with light blue color, position the rounded bowl with light blue color above it, and stack.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl, then stack the ceramic bowl on the dark inside bowl light blue outside.",
+    "the ceramic bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Set down the dark inside bowl light blue outside and drop the blue bowl with slightly rounded base on top.",
+    "Hold the ceramic bowl and stack the rounded bowl with light blue color neatly atop.",
+    "Pick up the rounded bowl with light blue color using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl above it.",
+    "Set the ceramic bowl down, then add the ceramic bowl with earthy brown trim over it.",
+    "Place the curved bowl light blue shade down, then set the ceramic bowl with earthy brown trim on top of the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the ceramic bowl.",
+    "Grab the blue bowl, then stack the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Grab the small bowl with brown edge, set it down, then place the dark inside bowl light blue outside over it.",
+    "Place the bowl with brown outer rim on the surface, then stack the small bowl with brown edge above it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on top.",
+    "Position the dark inside bowl light blue outside, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the dark inside bowl light blue outside.",
+    "Pick up the medium-sized bowl for holding food, grab the glazed bowl with curved sides, and stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl, and place it over the ceramic bowl with earthy brown trim.",
+    "Use the right arm for the medium-sized bowl for holding food, place it, and stack the ceramic bowl with the left arm.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Grab the bowl with shiny texture, position it, and place the small bowl with brown edge on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Position the bowl with brown outer rim carefully on the bowl with shiny texture.",
+    "Grab the ceramic bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl above.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the rounded bowl with light blue color.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Lift the blue bowl with slightly rounded base, grab the bowl with shiny texture, and set the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with brown outer rim.",
+    "Take the blue bowl, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Lift the ceramic bowl, then stack it on the small bowl with brown edge.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the rounded bowl with light blue color using the left arm.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with shiny texture on top.",
+    "Take the ceramic bowl with earthy brown trim, place the bowl with brown outer rim above, and let go.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl directly above.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the glazed bowl with curved sides on top.",
+    "Set the ceramic bowl with earthy brown trim over the curved bowl light blue shade to create the stack.",
+    "Pick the glazed bowl with curved sides, then stack the blue bowl on it.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the bowl with shiny texture on.",
+    "Stack the bowl with shiny texture securely on top of the blue bowl.",
+    "Pick up the curved bowl light blue shade and set the blue bowl on it.",
+    "Arrange the blue bowl with slightly rounded base, lift the ceramic bowl with the arm, and stack them.",
+    "Position the blue bowl with the arm, then set the bowl with brown outer rim above it.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl to stack above.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the blue bowl with slightly rounded base using the left arm.",
+    "Align the ceramic bowl with earthy brown trim and the ceramic bowl, then stack the ceramic bowl on the ceramic bowl with earthy brown trim.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Set down the bowl with shiny texture and drop the medium-sized bowl for holding food on top.",
+    "Hold the rounded bowl with light blue color and stack the small bowl with brown edge neatly atop.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Place the blue bowl with slightly rounded base down, then set the small bowl with brown edge above it.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with brown outer rim over it.",
+    "Place the rounded bowl with light blue color down, then set the curved bowl light blue shade on top of the rounded bowl with light blue color.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the small bowl with brown edge."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode87.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode87.json
new file mode 100644
index 0000000000000000000000000000000000000000..49a903ad6dc3f644807720fc6edfd58b7291f365
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode87.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Place the ceramic bowl with earthy brown trim down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the blue bowl with slightly rounded base, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Pick up the blue bowl and set the glazed bowl with curved sides on it.",
+    "Use the arm to place the blue bowl, then stack the ceramic bowl with earthy brown trim on top.",
+    "Align the small bowl with brown edge and the small bowl with brown edge, then stack the small bowl with brown edge on the small bowl with brown edge.",
+    "Arrange the bowl with shiny texture, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Set the glazed bowl with curved sides over the bowl with brown outer rim to create the stack.",
+    "Pick the ceramic bowl with earthy brown trim, position the ceramic bowl with earthy brown trim, and place it over the ceramic bowl with earthy brown trim.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Position the bowl with shiny texture carefully on the curved bowl light blue shade.",
+    "Grab the rounded bowl with light blue color, position it, and place the medium-sized bowl for holding food on top.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the ceramic bowl on top.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with shiny texture on top.",
+    "Stack the bowl with brown outer rim securely on top of the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Take the ceramic bowl, align the glazed bowl with curved sides, and stack them.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl securely onto it.",
+    "Lift the blue bowl, position the rounded bowl with light blue color above it, and stack.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Set down the blue bowl and drop the glazed bowl with curved sides on top.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the bowl with shiny texture with the left arm.",
+    "Hold the rounded bowl with light blue color and stack the dark inside bowl light blue outside neatly atop.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Put the rounded bowl with light blue color first, then bring the ceramic bowl to stack above.",
+    "Pick up the blue bowl using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Align the small bowl with brown edge over the medium-sized bowl for holding food, then complete the stack.",
+    "Take the curved bowl light blue shade, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Position the blue bowl with slightly rounded base, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the blue bowl with slightly rounded base.",
+    "With the right arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place the glazed bowl with curved sides above, and let go.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the rounded bowl with light blue color.",
+    "Pick the bowl with brown outer rim, then stack the ceramic bowl with earthy brown trim on it.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Lift the dark inside bowl light blue outside, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the dark inside bowl light blue outside.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Stack the curved bowl light blue shade carefully over the blue bowl.",
+    "the blue bowl goes at the bottom, the bowl with shiny texture rests above.",
+    "Place the dark inside bowl light blue outside down, then set the glazed bowl with curved sides above it.",
+    "Pick up the small bowl with brown edge, grab the bowl with shiny texture, and stack the bowl with shiny texture on the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick up the blue bowl with slightly rounded base and set the ceramic bowl on it.",
+    "Use the arm to place the bowl with shiny texture, then stack the rounded bowl with light blue color on top.",
+    "Align the curved bowl light blue shade and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the curved bowl light blue shade.",
+    "Arrange the dark inside bowl light blue outside, lift the blue bowl with the arm, and stack them.",
+    "Take the dark inside bowl light blue outside, place it, and stack the ceramic bowl on top.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the dark inside bowl light blue outside over it.",
+    "Set the blue bowl with slightly rounded base over the blue bowl with slightly rounded base to create the stack.",
+    "Pick the bowl with shiny texture, position the curved bowl light blue shade, and place it over the bowl with shiny texture.",
+    "Set the dark inside bowl light blue outside down, then add the blue bowl over it.",
+    "Position the blue bowl with slightly rounded base carefully on the medium-sized bowl for holding food.",
+    "Grab the blue bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the blue bowl with slightly rounded base, place it down, then position the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge, lay it down, and stack the bowl with shiny texture on top.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the blue bowl above it.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the bowl with brown outer rim on top.",
+    "Hold the bowl with brown outer rim steady and slide the glazed bowl with curved sides on.",
+    "Place the blue bowl down and stack the glazed bowl with curved sides on top.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the glazed bowl with curved sides.",
+    "Lift the bowl with brown outer rim using the right arm, set it down, and stack the rounded bowl with light blue color using the left arm.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "Position the glazed bowl with curved sides and stack the medium-sized bowl for holding food securely onto it.",
+    "Lift the rounded bowl with light blue color, position the dark inside bowl light blue outside above it, and stack.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the curved bowl light blue shade over it.",
+    "Lift the ceramic bowl, stack it precisely on top of the blue bowl.",
+    "Set down the glazed bowl with curved sides and drop the small bowl with brown edge on top.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the medium-sized bowl for holding food with the left arm.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the blue bowl with slightly rounded base down, then set the dark inside bowl light blue outside on top of the blue bowl with slightly rounded base.",
+    "Put the blue bowl first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Take the rounded bowl with light blue color, position it, then stack the glazed bowl with curved sides directly above.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Position the bowl with brown outer rim, lift the bowl with shiny texture, and place the bowl with shiny texture on the bowl with brown outer rim.",
+    "With the right arm, lift the curved bowl light blue shade and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the bowl with shiny texture, place the bowl with brown outer rim above, and let go.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Pick the small bowl with brown edge, then stack the blue bowl on it.",
+    "Grab the bowl with shiny texture, lift it up, position the small bowl with brown edge, and stack them.",
+    "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.",
+    "Lift the medium-sized bowl for holding food, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the rounded bowl with light blue color above it.",
+    "Stack the rounded bowl with light blue color carefully over the dark inside bowl light blue outside.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Place the blue bowl with slightly rounded base down, then set the ceramic bowl above it."
+  ],
+  "unseen": [
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode88.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode88.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a999bfd5eae423e6fb72ebe0c61d111d9cb59fc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode88.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Align the bowl with brown outer rim over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Use the left arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Take the medium-sized bowl for holding food, position it, then stack the rounded bowl with light blue color directly above.",
+    "Lift the bowl with shiny texture, position the dark inside bowl light blue outside above it, and stack.",
+    "Place the bowl with brown outer rim down, then set the blue bowl on top of the bowl with brown outer rim.",
+    "Set down the blue bowl and drop the ceramic bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the blue bowl with slightly rounded base on top.",
+    "Take the blue bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the bowl with brown outer rim.",
+    "Place the glazed bowl with curved sides down, then set the small bowl with brown edge above it.",
+    "Pick up the rounded bowl with light blue color, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the rounded bowl with light blue color using the right arm.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the rounded bowl with light blue color on top.",
+    "Pick up the blue bowl with slightly rounded base and set the rounded bowl with light blue color on it.",
+    "Hold the medium-sized bowl for holding food and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the rounded bowl with light blue color.",
+    "the rounded bowl with light blue color goes at the bottom, the bowl with brown outer rim rests above.",
+    "Grab the curved bowl light blue shade, then stack the ceramic bowl on top.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the blue bowl with the right arm.",
+    "Hold the rounded bowl with light blue color steady and slide the blue bowl with slightly rounded base on.",
+    "Set the ceramic bowl over the glazed bowl with curved sides to create the stack.",
+    "Lift the blue bowl, then stack it on the ceramic bowl.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the curved bowl light blue shade, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Lift the bowl with shiny texture and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Stack the glazed bowl with curved sides securely on top of the blue bowl with slightly rounded base.",
+    "Align the medium-sized bowl for holding food and the curved bowl light blue shade, then stack the curved bowl light blue shade on the medium-sized bowl for holding food.",
+    "Position the bowl with shiny texture and stack the medium-sized bowl for holding food securely onto it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with shiny texture to stack above.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with shiny texture on it.",
+    "Set the bowl with shiny texture down, then add the small bowl with brown edge over it.",
+    "Lift the glazed bowl with curved sides, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Pick up the dark inside bowl light blue outside using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Grab the blue bowl, then carefully place the blue bowl with slightly rounded base on top.",
+    "Position the bowl with brown outer rim with the arm, then set the dark inside bowl light blue outside above it.",
+    "Arrange the dark inside bowl light blue outside, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Lift the dark inside bowl light blue outside using the left arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Take the medium-sized bowl for holding food, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the bowl with shiny texture, grab the dark inside bowl light blue outside, and stack the dark inside bowl light blue outside on the bowl with shiny texture.",
+    "Pick the curved bowl light blue shade, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Pick the bowl with brown outer rim, position the glazed bowl with curved sides, and place it over the bowl with brown outer rim.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Stack the ceramic bowl carefully over the blue bowl.",
+    "Position the glazed bowl with curved sides carefully on the curved bowl light blue shade.",
+    "Place the blue bowl with slightly rounded base down and stack the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the glazed bowl with curved sides over the glazed bowl with curved sides, then complete the stack.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the small bowl with brown edge with the right arm.",
+    "Take the blue bowl, position it, then stack the bowl with shiny texture directly above.",
+    "Lift the blue bowl, position the small bowl with brown edge above it, and stack.",
+    "Place the glazed bowl with curved sides down, then set the curved bowl light blue shade on top of the glazed bowl with curved sides.",
+    "Set down the blue bowl and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the blue bowl on top.",
+    "Take the blue bowl, place the blue bowl with slightly rounded base above, and let go.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the medium-sized bowl for holding food.",
+    "Place the ceramic bowl with earthy brown trim down, then set the bowl with shiny texture above it.",
+    "Pick up the curved bowl light blue shade, place it down, then position the bowl with shiny texture on top.",
+    "With the left arm, lift the medium-sized bowl for holding food and stack the rounded bowl with light blue color using the right arm.",
+    "Use the arm to place the ceramic bowl, then stack the curved bowl light blue shade on top.",
+    "Pick up the blue bowl and set the blue bowl with slightly rounded base on it.",
+    "Hold the small bowl with brown edge and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the rounded bowl with light blue color.",
+    "the ceramic bowl goes at the bottom, the blue bowl rests above.",
+    "Grab the ceramic bowl, then stack the blue bowl on top.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the right arm.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the ceramic bowl on.",
+    "Set the bowl with brown outer rim over the small bowl with brown edge to create the stack.",
+    "Lift the glazed bowl with curved sides, then stack it on the rounded bowl with light blue color.",
+    "Grab the ceramic bowl with earthy brown trim, set it down, then place the bowl with brown outer rim over it.",
+    "Lift the blue bowl, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Lift the rounded bowl with light blue color and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the curved bowl light blue shade, lift it up, position the bowl with brown outer rim, and stack them.",
+    "Stack the dark inside bowl light blue outside securely on top of the medium-sized bowl for holding food.",
+    "Align the rounded bowl with light blue color and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Position the blue bowl with slightly rounded base and stack the glazed bowl with curved sides securely onto it.",
+    "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Put the curved bowl light blue shade first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Pick the blue bowl, then stack the ceramic bowl with earthy brown trim on it.",
+    "Set the medium-sized bowl for holding food down, then add the rounded bowl with light blue color over it.",
+    "Lift the rounded bowl with light blue color, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the rounded bowl with light blue color.",
+    "Pick up the glazed bowl with curved sides using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Grab the bowl with brown outer rim, then carefully place the curved bowl light blue shade on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the ceramic bowl above it.",
+    "Arrange the bowl with brown outer rim, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Position the curved bowl light blue shade, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "Take the curved bowl light blue shade, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick up the glazed bowl with curved sides, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the glazed bowl with curved sides.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the rounded bowl with light blue color over it.",
+    "Pick the ceramic bowl with earthy brown trim, position the curved bowl light blue shade, and place it over the ceramic bowl with earthy brown trim.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the blue bowl on top.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the blue bowl.",
+    "Position the medium-sized bowl for holding food carefully on the ceramic bowl with earthy brown trim.",
+    "Place the dark inside bowl light blue outside down and stack the curved bowl light blue shade on top.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Align the dark inside bowl light blue outside over the blue bowl with slightly rounded base, then complete the stack.",
+    "Use the left arm for the ceramic bowl, place it, and stack the medium-sized bowl for holding food with the right arm."
+  ],
+  "unseen": [
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode89.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode89.json
new file mode 100644
index 0000000000000000000000000000000000000000..1134dae58efa86ff2f8869c02b988b5b755796cd
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode89.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Stack the blue bowl with slightly rounded base carefully over the medium-sized bowl for holding food.",
+    "Pick the small bowl with brown edge, position the blue bowl with slightly rounded base, and place it over the small bowl with brown edge.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the rounded bowl with light blue color, position the medium-sized bowl for holding food above it, and stack.",
+    "Put the curved bowl light blue shade first, then bring the rounded bowl with light blue color to stack above.",
+    "Set down the glazed bowl with curved sides and drop the ceramic bowl on top.",
+    "Align the blue bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Place the bowl with brown outer rim on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Align the ceramic bowl with earthy brown trim and the blue bowl, then stack the blue bowl on the ceramic bowl with earthy brown trim.",
+    "Pick up the small bowl with brown edge and set the blue bowl on it.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the curved bowl light blue shade over it.",
+    "Place the curved bowl light blue shade down and stack the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the ceramic bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Position the blue bowl with slightly rounded base carefully on the curved bowl light blue shade.",
+    "Arrange the bowl with brown outer rim, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the bowl with brown outer rim above, and let go.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the medium-sized bowl for holding food on top.",
+    "Set the small bowl with brown edge down, then add the rounded bowl with light blue color over it.",
+    "Position the ceramic bowl, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the bowl with brown outer rim using the right arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the dark inside bowl light blue outside.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the bowl with shiny texture with the right arm.",
+    "Lift the dark inside bowl light blue outside, stack it precisely on top of the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down, then set the ceramic bowl above it.",
+    "Lift the blue bowl, then stack it on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade and position it neatly over the curved bowl light blue shade.",
+    "Lift the blue bowl, lay it down, and stack the ceramic bowl on top.",
+    "Grab the glazed bowl with curved sides, set it down, then place the bowl with brown outer rim over it.",
+    "Hold the bowl with brown outer rim steady and slide the ceramic bowl on.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the ceramic bowl.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the small bowl with brown edge above it.",
+    "Take the blue bowl with slightly rounded base, align the glazed bowl with curved sides, and stack them.",
+    "the curved bowl light blue shade goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Position the curved bowl light blue shade and stack the rounded bowl with light blue color securely onto it.",
+    "Pick up the glazed bowl with curved sides, grab the blue bowl, and stack the blue bowl on the glazed bowl with curved sides.",
+    "Set the bowl with shiny texture over the small bowl with brown edge to create the stack.",
+    "Lift the curved bowl light blue shade using the right arm, set it down, and stack the bowl with brown outer rim using the right arm.",
+    "Pick the bowl with shiny texture, then stack the dark inside bowl light blue outside on it.",
+    "Hold the ceramic bowl and stack the dark inside bowl light blue outside neatly atop.",
+    "Take the bowl with brown outer rim, place it, and stack the rounded bowl with light blue color on top.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Grab the bowl with brown outer rim, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the rounded bowl with light blue color, then stack the small bowl with brown edge on top.",
+    "Place the bowl with brown outer rim down, then set the rounded bowl with light blue color on top of the bowl with brown outer rim.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with shiny texture.",
+    "Pick the bowl with brown outer rim, position the medium-sized bowl for holding food, and place it over the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl above it, and stack.",
+    "Put the glazed bowl with curved sides first, then bring the small bowl with brown edge to stack above.",
+    "Set down the curved bowl light blue shade and drop the small bowl with brown edge on top.",
+    "Align the dark inside bowl light blue outside over the blue bowl, then complete the stack.",
+    "Place the blue bowl on the surface, then stack the bowl with shiny texture above it.",
+    "Align the ceramic bowl with earthy brown trim and the small bowl with brown edge, then stack the small bowl with brown edge on the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.",
+    "Pick the blue bowl, position on the table, and place the ceramic bowl over it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the bowl with shiny texture on top.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the bowl with shiny texture directly above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the dark inside bowl light blue outside.",
+    "Arrange the bowl with brown outer rim, lift the bowl with shiny texture with the arm, and stack them.",
+    "Take the bowl with brown outer rim, place the blue bowl with slightly rounded base above, and let go.",
+    "Grab the bowl with brown outer rim, position it, and place the bowl with shiny texture on top.",
+    "Set the blue bowl down, then add the curved bowl light blue shade over it.",
+    "Position the ceramic bowl, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl.",
+    "With the right arm, lift the ceramic bowl with earthy brown trim and stack the small bowl with brown edge using the right arm.",
+    "Stack the curved bowl light blue shade securely on top of the rounded bowl with light blue color.",
+    "Use the right arm for the small bowl with brown edge, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the glazed bowl with curved sides.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge above it.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base and position it neatly over the bowl with shiny texture.",
+    "Lift the blue bowl, lay it down, and stack the curved bowl light blue shade on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the blue bowl over it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the curved bowl light blue shade on.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the ceramic bowl with earthy brown trim above.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl on top.",
+    "Position the bowl with brown outer rim with the arm, then set the bowl with shiny texture above it.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.",
+    "the rounded bowl with light blue color goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Position the small bowl with brown edge and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with shiny texture, and stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "Lift the ceramic bowl using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Pick the curved bowl light blue shade, then stack the bowl with brown outer rim on it.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the blue bowl, place it, and stack the medium-sized bowl for holding food on top.",
+    "Use the arm to place the small bowl with brown edge, then stack the bowl with brown outer rim on top.",
+    "Grab the blue bowl, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Grab the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Place the rounded bowl with light blue color down, then set the ceramic bowl on top of the rounded bowl with light blue color.",
+    "Lift the curved bowl light blue shade, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the curved bowl light blue shade.",
+    "Stack the medium-sized bowl for holding food carefully over the glazed bowl with curved sides."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode9.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode9.json
new file mode 100644
index 0000000000000000000000000000000000000000..075b333625d17986d0188a3f7b57179b3498ce29
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode9.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the dark inside bowl light blue outside on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the curved bowl light blue shade, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Set down the bowl with brown outer rim and drop the bowl with shiny texture on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Grab the rounded bowl with light blue color, set it down, then place the glazed bowl with curved sides over it.",
+    "Place the small bowl with brown edge down, then set the rounded bowl with light blue color above it.",
+    "Pick up the blue bowl with slightly rounded base and set the glazed bowl with curved sides on it.",
+    "Position the ceramic bowl with earthy brown trim and stack the blue bowl securely onto it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the glazed bowl with curved sides, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the bowl with shiny texture.",
+    "With the right arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the left arm.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Lift the glazed bowl with curved sides and position it neatly over the medium-sized bowl for holding food.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the rounded bowl with light blue color.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the medium-sized bowl for holding food with the right arm, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Pick up the bowl with shiny texture, place it down, then position the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "Stack the blue bowl carefully over the glazed bowl with curved sides.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the curved bowl light blue shade above.",
+    "Position the rounded bowl with light blue color carefully on the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Hold the rounded bowl with light blue color and stack the ceramic bowl neatly atop.",
+    "Grab the dark inside bowl light blue outside, then carefully place the medium-sized bowl for holding food on top.",
+    "Lift the curved bowl light blue shade, position the curved bowl light blue shade above it, and stack.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with the arm, and stack them.",
+    "Align the blue bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the blue bowl.",
+    "the bowl with shiny texture goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Take the curved bowl light blue shade, position it, then stack the curved bowl light blue shade directly above.",
+    "Put the bowl with shiny texture first, then bring the curved bowl light blue shade to stack above.",
+    "Set the rounded bowl with light blue color down, then add the bowl with shiny texture over it.",
+    "Stack the curved bowl light blue shade securely on top of the medium-sized bowl for holding food.",
+    "Set the curved bowl light blue shade over the dark inside bowl light blue outside to create the stack.",
+    "Lift the small bowl with brown edge, lay it down, and stack the small bowl with brown edge on top.",
+    "Pick the ceramic bowl, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Take the bowl with shiny texture, place it, and stack the blue bowl on top.",
+    "Pick the glazed bowl with curved sides, position the dark inside bowl light blue outside, and place it over the glazed bowl with curved sides.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Place the bowl with shiny texture down and stack the blue bowl on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl on top of the ceramic bowl with earthy brown trim.",
+    "Grab the blue bowl with slightly rounded base, position it, and place the dark inside bowl light blue outside on top.",
+    "Take the ceramic bowl with earthy brown trim, align the small bowl with brown edge, and stack them.",
+    "Lift the rounded bowl with light blue color, then stack it on the curved bowl light blue shade.",
+    "Align the bowl with shiny texture over the bowl with brown outer rim, then complete the stack.",
+    "Pick the curved bowl light blue shade, then stack the dark inside bowl light blue outside on it.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the bowl with brown outer rim using the left arm.",
+    "Place the bowl with shiny texture on the surface, then stack the glazed bowl with curved sides above it.",
+    "Grab the bowl with brown outer rim, lift it up, position the small bowl with brown edge, and stack them.",
+    "Set down the ceramic bowl with earthy brown trim and drop the curved bowl light blue shade on top.",
+    "Use the arm to place the blue bowl with slightly rounded base, then stack the glazed bowl with curved sides on top.",
+    "Grab the blue bowl, set it down, then place the dark inside bowl light blue outside over it.",
+    "Place the bowl with shiny texture down, then set the small bowl with brown edge above it.",
+    "Pick up the blue bowl with slightly rounded base and set the medium-sized bowl for holding food on it.",
+    "Position the blue bowl with slightly rounded base and stack the blue bowl with slightly rounded base securely onto it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl.",
+    "Position the blue bowl with slightly rounded base, lift the ceramic bowl with earthy brown trim, and place the ceramic bowl with earthy brown trim on the blue bowl with slightly rounded base.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the curved bowl light blue shade.",
+    "With the right arm, lift the bowl with shiny texture and stack the bowl with brown outer rim using the left arm.",
+    "Take the rounded bowl with light blue color, place the blue bowl with slightly rounded base above, and let go.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Position the bowl with brown outer rim with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick up the medium-sized bowl for holding food, place it down, then position the small bowl with brown edge on top.",
+    "Lift the glazed bowl with curved sides, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the glazed bowl with curved sides.",
+    "Stack the blue bowl carefully over the bowl with shiny texture.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the small bowl with brown edge above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the bowl with brown outer rim.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "Hold the blue bowl with slightly rounded base and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the curved bowl light blue shade, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the blue bowl with slightly rounded base, position the small bowl with brown edge above it, and stack.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Align the ceramic bowl with earthy brown trim and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the ceramic bowl with earthy brown trim.",
+    "the glazed bowl with curved sides goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Take the blue bowl, position it, then stack the glazed bowl with curved sides directly above.",
+    "Put the glazed bowl with curved sides first, then bring the rounded bowl with light blue color to stack above.",
+    "Set the small bowl with brown edge down, then add the dark inside bowl light blue outside over it.",
+    "Stack the dark inside bowl light blue outside securely on top of the blue bowl.",
+    "Set the ceramic bowl over the medium-sized bowl for holding food to create the stack.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick the curved bowl light blue shade, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Lift the blue bowl using the right arm, set it down, and stack the curved bowl light blue shade using the left arm.",
+    "Take the glazed bowl with curved sides, place it, and stack the dark inside bowl light blue outside on top.",
+    "Pick the small bowl with brown edge, position the curved bowl light blue shade, and place it over the small bowl with brown edge.",
+    "Hold the rounded bowl with light blue color steady and slide the medium-sized bowl for holding food on.",
+    "Place the medium-sized bowl for holding food down and stack the medium-sized bowl for holding food on top.",
+    "Place the bowl with shiny texture down, then set the rounded bowl with light blue color on top of the bowl with shiny texture.",
+    "Grab the blue bowl, position it, and place the glazed bowl with curved sides on top.",
+    "Take the curved bowl light blue shade, align the bowl with brown outer rim, and stack them.",
+    "Lift the small bowl with brown edge, then stack it on the bowl with brown outer rim.",
+    "Align the blue bowl with slightly rounded base over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on it.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Place the glazed bowl with curved sides on the surface, then stack the blue bowl above it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the bowl with shiny texture, and stack them."
+  ],
+  "unseen": [
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode90.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode90.json
new file mode 100644
index 0000000000000000000000000000000000000000..78da58384507cb27b32e8f40bcbcc549b559a31c
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode90.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the curved bowl light blue shade, place it, and stack the glazed bowl with curved sides on top.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Arrange the curved bowl light blue shade, lift the small bowl with brown edge with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color, lay it down, and stack the curved bowl light blue shade on top.",
+    "Align the dark inside bowl light blue outside and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the dark inside bowl light blue outside.",
+    "Pick the ceramic bowl with earthy brown trim, then stack the dark inside bowl light blue outside on it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Set the medium-sized bowl for holding food over the glazed bowl with curved sides to create the stack.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the small bowl with brown edge down, then set the bowl with shiny texture on top of the small bowl with brown edge.",
+    "Use the arm to place the blue bowl, then stack the bowl with shiny texture on top.",
+    "Lift the glazed bowl with curved sides, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the glazed bowl with curved sides.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Pick the bowl with brown outer rim, position on the table, and place the ceramic bowl over it.",
+    "Hold the medium-sized bowl for holding food and stack the blue bowl neatly atop.",
+    "Place the dark inside bowl light blue outside down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the blue bowl with slightly rounded base, then stack it on the curved bowl light blue shade.",
+    "Stack the blue bowl carefully over the curved bowl light blue shade.",
+    "Pick up the blue bowl, grab the rounded bowl with light blue color, and stack the rounded bowl with light blue color on the blue bowl.",
+    "Position the ceramic bowl with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Lift the medium-sized bowl for holding food using the left arm, set it down, and stack the blue bowl using the left arm.",
+    "Grab the rounded bowl with light blue color, then carefully place the small bowl with brown edge on top.",
+    "Take the curved bowl light blue shade, place the medium-sized bowl for holding food above, and let go.",
+    "Align the ceramic bowl over the blue bowl with slightly rounded base, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the small bowl with brown edge and position it neatly over the ceramic bowl.",
+    "Pick up the rounded bowl with light blue color and set the rounded bowl with light blue color on it.",
+    "Position the glazed bowl with curved sides, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "the small bowl with brown edge goes at the bottom, the ceramic bowl rests above.",
+    "Place the small bowl with brown edge down, then set the ceramic bowl with earthy brown trim above it.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with brown outer rim over it.",
+    "Put the glazed bowl with curved sides first, then bring the ceramic bowl to stack above.",
+    "Position the ceramic bowl with earthy brown trim carefully on the curved bowl light blue shade.",
+    "Set down the blue bowl and drop the blue bowl with slightly rounded base on top.",
+    "Grab the ceramic bowl with earthy brown trim, then stack the glazed bowl with curved sides on top.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Pick up the dark inside bowl light blue outside, place it down, then position the ceramic bowl on top.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the rounded bowl with light blue color directly above.",
+    "Grab the ceramic bowl with earthy brown trim, position it, and place the dark inside bowl light blue outside on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the glazed bowl with curved sides, position the medium-sized bowl for holding food above it, and stack.",
+    "Set the ceramic bowl with earthy brown trim down, then add the bowl with brown outer rim over it.",
+    "Pick the blue bowl with slightly rounded base, position the glazed bowl with curved sides, and place it over the blue bowl with slightly rounded base.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the medium-sized bowl for holding food using the left arm.",
+    "Position the blue bowl and stack the medium-sized bowl for holding food securely onto it.",
+    "Hold the blue bowl with slightly rounded base steady and slide the medium-sized bowl for holding food on.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the small bowl with brown edge.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Place the curved bowl light blue shade on the surface, then stack the glazed bowl with curved sides above it.",
+    "Arrange the ceramic bowl, lift the medium-sized bowl for holding food with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Align the dark inside bowl light blue outside and the blue bowl, then stack the blue bowl on the dark inside bowl light blue outside.",
+    "Pick the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on it.",
+    "Use the left arm for the curved bowl light blue shade, place it, and stack the ceramic bowl with the left arm.",
+    "Set the ceramic bowl with earthy brown trim over the glazed bowl with curved sides to create the stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Place the medium-sized bowl for holding food down, then set the bowl with shiny texture on top of the medium-sized bowl for holding food.",
+    "Use the arm to place the small bowl with brown edge, then stack the rounded bowl with light blue color on top.",
+    "Lift the ceramic bowl, grab the bowl with shiny texture, and set the bowl with shiny texture on the ceramic bowl.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the bowl with shiny texture with the left arm.",
+    "Pick the ceramic bowl, position on the table, and place the curved bowl light blue shade over it.",
+    "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.",
+    "Place the small bowl with brown edge down and stack the ceramic bowl with earthy brown trim on top.",
+    "Grab the ceramic bowl with earthy brown trim, lift it up, position the medium-sized bowl for holding food, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the dark inside bowl light blue outside.",
+    "Stack the glazed bowl with curved sides carefully over the curved bowl light blue shade.",
+    "Pick up the bowl with brown outer rim, grab the small bowl with brown edge, and stack the small bowl with brown edge on the bowl with brown outer rim.",
+    "Position the rounded bowl with light blue color with the arm, then set the glazed bowl with curved sides above it.",
+    "Lift the bowl with brown outer rim using the left arm, set it down, and stack the blue bowl using the left arm.",
+    "Grab the bowl with brown outer rim, then carefully place the bowl with shiny texture on top.",
+    "Take the ceramic bowl, place the medium-sized bowl for holding food above, and let go.",
+    "Align the glazed bowl with curved sides over the glazed bowl with curved sides, then complete the stack.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the blue bowl with slightly rounded base using the left arm.",
+    "Lift the ceramic bowl with earthy brown trim and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with brown outer rim on it.",
+    "Position the small bowl with brown edge, lift the blue bowl, and place the blue bowl on the small bowl with brown edge.",
+    "the small bowl with brown edge goes at the bottom, the dark inside bowl light blue outside rests above.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Take the blue bowl, align the blue bowl with slightly rounded base, and stack them.",
+    "Grab the blue bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Put the small bowl with brown edge first, then bring the ceramic bowl with earthy brown trim to stack above.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Set down the ceramic bowl and drop the small bowl with brown edge on top.",
+    "Grab the medium-sized bowl for holding food, then stack the bowl with shiny texture on top.",
+    "Stack the small bowl with brown edge securely on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Take the glazed bowl with curved sides, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Grab the bowl with brown outer rim, position it, and place the glazed bowl with curved sides on top.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Set the curved bowl light blue shade down, then add the curved bowl light blue shade over it.",
+    "Pick the curved bowl light blue shade, position the curved bowl light blue shade, and place it over the curved bowl light blue shade.",
+    "With the left arm, lift the dark inside bowl light blue outside and stack the ceramic bowl using the left arm.",
+    "Position the glazed bowl with curved sides and stack the bowl with shiny texture securely onto it.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl on.",
+    "Lift the glazed bowl with curved sides, stack it precisely on top of the curved bowl light blue shade.",
+    "Take the bowl with brown outer rim, place it, and stack the ceramic bowl on top.",
+    "Place the glazed bowl with curved sides on the surface, then stack the glazed bowl with curved sides above it."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode91.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode91.json
new file mode 100644
index 0000000000000000000000000000000000000000..60696af1928c778f235d7c06f3c2590362849af5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode91.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the blue bowl down, then set the blue bowl with slightly rounded base on top of the blue bowl.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Arrange the medium-sized bowl for holding food, lift the glazed bowl with curved sides with the arm, and stack them.",
+    "Take the medium-sized bowl for holding food, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the ceramic bowl with earthy brown trim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Place the small bowl with brown edge down and stack the blue bowl with slightly rounded base on top.",
+    "Stack the glazed bowl with curved sides carefully over the small bowl with brown edge.",
+    "Grasp the blue bowl, then use the arm to align and stack the dark inside bowl light blue outside.",
+    "Stack the rounded bowl with light blue color securely on top of the medium-sized bowl for holding food.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the blue bowl with slightly rounded base, grab the blue bowl, and stack the blue bowl on the blue bowl with slightly rounded base.",
+    "Pick the bowl with shiny texture, then stack the small bowl with brown edge on it.",
+    "Grab the curved bowl light blue shade, position it, and place the medium-sized bowl for holding food on top.",
+    "With the right arm, lift the blue bowl and stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the curved bowl light blue shade and stack the bowl with brown outer rim neatly atop.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Pick up the glazed bowl with curved sides and set the blue bowl on it.",
+    "Take the glazed bowl with curved sides, align the bowl with brown outer rim, and stack them.",
+    "Lift the ceramic bowl, position the curved bowl light blue shade above it, and stack.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Lift the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and set the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Pick the glazed bowl with curved sides, position the blue bowl, and place it over the glazed bowl with curved sides.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Pick up the small bowl with brown edge, place it down, then position the rounded bowl with light blue color on top.",
+    "Grab the ceramic bowl, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the medium-sized bowl for holding food.",
+    "Set the bowl with shiny texture down, then add the blue bowl over it.",
+    "Place the rounded bowl with light blue color down, then set the glazed bowl with curved sides above it.",
+    "Align the glazed bowl with curved sides over the blue bowl, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Put the curved bowl light blue shade first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the arm to place the dark inside bowl light blue outside, then stack the curved bowl light blue shade on top.",
+    "the ceramic bowl with earthy brown trim goes at the bottom, the ceramic bowl with earthy brown trim rests above.",
+    "Lift the small bowl with brown edge and position it neatly over the bowl with shiny texture.",
+    "Grab the bowl with brown outer rim, then carefully place the blue bowl on top.",
+    "Take the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade on top.",
+    "Align the dark inside bowl light blue outside and the curved bowl light blue shade, then stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the bowl with brown outer rim and stack the bowl with shiny texture securely onto it.",
+    "Position the blue bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Position the glazed bowl with curved sides, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Lift the blue bowl with slightly rounded base, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl above, and let go.",
+    "Set down the curved bowl light blue shade and drop the glazed bowl with curved sides on top.",
+    "Position the ceramic bowl with earthy brown trim carefully on the dark inside bowl light blue outside.",
+    "Lift the medium-sized bowl for holding food, stack it precisely on top of the blue bowl.",
+    "Hold the bowl with shiny texture steady and slide the medium-sized bowl for holding food on.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim on top of the blue bowl.",
+    "Grab the curved bowl light blue shade, then stack the rounded bowl with light blue color on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the curved bowl light blue shade directly above.",
+    "Place the rounded bowl with light blue color on the surface, then stack the curved bowl light blue shade above it.",
+    "Place the ceramic bowl with earthy brown trim down and stack the ceramic bowl on top.",
+    "Stack the bowl with shiny texture carefully over the blue bowl.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the ceramic bowl with earthy brown trim.",
+    "Stack the bowl with brown outer rim securely on top of the bowl with brown outer rim.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Pick up the medium-sized bowl for holding food, grab the ceramic bowl, and stack the ceramic bowl on the medium-sized bowl for holding food.",
+    "Pick the bowl with brown outer rim, then stack the bowl with shiny texture on it.",
+    "Grab the medium-sized bowl for holding food, position it, and place the blue bowl on top.",
+    "With the right arm, lift the bowl with brown outer rim and stack the rounded bowl with light blue color using the right arm.",
+    "Hold the medium-sized bowl for holding food and stack the glazed bowl with curved sides neatly atop.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Pick up the rounded bowl with light blue color and set the rounded bowl with light blue color on it.",
+    "Take the small bowl with brown edge, align the dark inside bowl light blue outside, and stack them.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Set the blue bowl with slightly rounded base over the rounded bowl with light blue color to create the stack.",
+    "Use the right arm for the bowl with brown outer rim, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Lift the dark inside bowl light blue outside, grab the bowl with shiny texture, and set the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Pick the medium-sized bowl for holding food, position the bowl with brown outer rim, and place it over the medium-sized bowl for holding food.",
+    "Pick the curved bowl light blue shade, position on the table, and place the bowl with brown outer rim over it.",
+    "Pick up the ceramic bowl, place it down, then position the bowl with shiny texture on top.",
+    "Grab the curved bowl light blue shade, set it down, then place the glazed bowl with curved sides over it.",
+    "Lift the blue bowl, then stack it on the small bowl with brown edge.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base above it.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Pick up the medium-sized bowl for holding food using the right arm, then stack the blue bowl using the right arm.",
+    "Put the blue bowl first, then bring the glazed bowl with curved sides to stack above.",
+    "Use the arm to place the rounded bowl with light blue color, then stack the dark inside bowl light blue outside on top.",
+    "the blue bowl with slightly rounded base goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Lift the bowl with brown outer rim and position it neatly over the medium-sized bowl for holding food.",
+    "Grab the glazed bowl with curved sides, then carefully place the bowl with brown outer rim on top.",
+    "Take the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade on top.",
+    "Align the small bowl with brown edge and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Lift the ceramic bowl, put it on the table, and stack the dark inside bowl light blue outside above.",
+    "Position the dark inside bowl light blue outside and stack the glazed bowl with curved sides securely onto it.",
+    "Position the medium-sized bowl for holding food with the arm, then set the small bowl with brown edge above it.",
+    "Position the ceramic bowl with earthy brown trim, lift the blue bowl with slightly rounded base, and place the blue bowl with slightly rounded base on the ceramic bowl with earthy brown trim.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the bowl with shiny texture using the right arm.",
+    "Take the rounded bowl with light blue color, place the curved bowl light blue shade above, and let go.",
+    "Set down the bowl with shiny texture and drop the blue bowl on top.",
+    "Position the curved bowl light blue shade carefully on the bowl with shiny texture.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Hold the bowl with brown outer rim steady and slide the rounded bowl with light blue color on.",
+    "Place the small bowl with brown edge down, then set the glazed bowl with curved sides on top of the small bowl with brown edge.",
+    "Grab the bowl with brown outer rim, then stack the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode92.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode92.json
new file mode 100644
index 0000000000000000000000000000000000000000..f714749df9ffbae901ae069faba58e0adbc7d00a
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode92.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bowl with shiny texture, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the bowl with shiny texture, then carefully place the dark inside bowl light blue outside on top.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the curved bowl light blue shade using the right arm.",
+    "Hold the glazed bowl with curved sides and stack the ceramic bowl neatly atop.",
+    "Take the medium-sized bowl for holding food, align the ceramic bowl, and stack them.",
+    "Arrange the small bowl with brown edge, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Place the medium-sized bowl for holding food down and stack the blue bowl with slightly rounded base on top.",
+    "Position the rounded bowl with light blue color with the arm, then set the blue bowl above it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.",
+    "Pick the glazed bowl with curved sides, then stack the small bowl with brown edge on it.",
+    "Place the rounded bowl with light blue color on the surface, then stack the small bowl with brown edge above it.",
+    "Take the ceramic bowl with earthy brown trim, place the small bowl with brown edge above, and let go.",
+    "Lift the blue bowl, position the small bowl with brown edge above it, and stack.",
+    "Stack the medium-sized bowl for holding food securely on top of the ceramic bowl.",
+    "the blue bowl with slightly rounded base goes at the bottom, the curved bowl light blue shade rests above.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the blue bowl using the right arm.",
+    "Take the small bowl with brown edge, place it, and stack the rounded bowl with light blue color on top.",
+    "Put the small bowl with brown edge first, then bring the bowl with shiny texture to stack above.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Lift the rounded bowl with light blue color, grab the blue bowl, and set the blue bowl on the rounded bowl with light blue color.",
+    "Stack the rounded bowl with light blue color carefully over the curved bowl light blue shade.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the blue bowl with slightly rounded base on top.",
+    "Set down the blue bowl and drop the bowl with brown outer rim on top.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Position the bowl with shiny texture carefully on the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the ceramic bowl above.",
+    "Grab the ceramic bowl with earthy brown trim with the left arm, place it, and stack the medium-sized bowl for holding food with the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the blue bowl on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the glazed bowl with curved sides on top.",
+    "Align the small bowl with brown edge and the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on the small bowl with brown edge.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the dark inside bowl light blue outside.",
+    "Pick up the blue bowl, place it down, then position the ceramic bowl on top.",
+    "Set the small bowl with brown edge down, then add the blue bowl over it.",
+    "Pick up the bowl with shiny texture using the left arm, then stack the medium-sized bowl for holding food using the right arm.",
+    "Lift the blue bowl, lay it down, and stack the medium-sized bowl for holding food on top.",
+    "Place the ceramic bowl down, then set the blue bowl with slightly rounded base on top of the ceramic bowl.",
+    "Align the bowl with shiny texture over the glazed bowl with curved sides, then complete the stack.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Position the ceramic bowl with earthy brown trim, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the ceramic bowl with earthy brown trim.",
+    "Hold the blue bowl steady and slide the bowl with brown outer rim on.",
+    "Set the ceramic bowl with earthy brown trim over the ceramic bowl to create the stack.",
+    "Pick up the rounded bowl with light blue color and set the ceramic bowl on it.",
+    "Position the curved bowl light blue shade and stack the bowl with brown outer rim securely onto it.",
+    "Lift the glazed bowl with curved sides, then stack it on the dark inside bowl light blue outside.",
+    "Grasp the blue bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Place the ceramic bowl with earthy brown trim down, then set the glazed bowl with curved sides above it.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl with earthy brown trim.",
+    "Take the curved bowl light blue shade, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Grab the medium-sized bowl for holding food, then carefully place the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Hold the bowl with shiny texture and stack the blue bowl with slightly rounded base neatly atop.",
+    "Take the glazed bowl with curved sides, align the medium-sized bowl for holding food, and stack them.",
+    "Arrange the glazed bowl with curved sides, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Place the ceramic bowl down and stack the dark inside bowl light blue outside on top.",
+    "Position the ceramic bowl with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the dark inside bowl light blue outside over it.",
+    "Pick the bowl with shiny texture, then stack the medium-sized bowl for holding food on it.",
+    "Place the small bowl with brown edge on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Take the glazed bowl with curved sides, place the ceramic bowl above, and let go.",
+    "Lift the medium-sized bowl for holding food, position the bowl with brown outer rim above it, and stack.",
+    "Stack the dark inside bowl light blue outside securely on top of the bowl with shiny texture.",
+    "the blue bowl with slightly rounded base goes at the bottom, the ceramic bowl rests above.",
+    "With the left arm, lift the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the ceramic bowl with earthy brown trim on top.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the bowl with brown outer rim.",
+    "Lift the blue bowl with slightly rounded base, grab the ceramic bowl, and set the ceramic bowl on the blue bowl with slightly rounded base.",
+    "Stack the curved bowl light blue shade carefully over the ceramic bowl.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the blue bowl on top.",
+    "Set down the blue bowl with slightly rounded base and drop the blue bowl with slightly rounded base on top.",
+    "Use the left arm for the ceramic bowl with earthy brown trim, place it, and stack the small bowl with brown edge with the right arm.",
+    "Pick the bowl with shiny texture, position on the table, and place the bowl with shiny texture over it.",
+    "Position the curved bowl light blue shade carefully on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the curved bowl light blue shade with the right arm.",
+    "Grab the rounded bowl with light blue color, then stack the bowl with shiny texture on top.",
+    "Grab the blue bowl, position it, and place the blue bowl with slightly rounded base on top.",
+    "Align the blue bowl with slightly rounded base and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Pick up the medium-sized bowl for holding food, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Pick up the curved bowl light blue shade, place it down, then position the ceramic bowl with earthy brown trim on top.",
+    "Set the bowl with brown outer rim down, then add the bowl with shiny texture over it.",
+    "Pick up the curved bowl light blue shade using the left arm, then stack the curved bowl light blue shade using the right arm.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the small bowl with brown edge on top.",
+    "Place the bowl with brown outer rim down, then set the medium-sized bowl for holding food on top of the bowl with brown outer rim.",
+    "Align the glazed bowl with curved sides over the dark inside bowl light blue outside, then complete the stack.",
+    "Pick the curved bowl light blue shade, position the bowl with shiny texture, and place it over the curved bowl light blue shade.",
+    "Position the curved bowl light blue shade, lift the bowl with shiny texture, and place the bowl with shiny texture on the curved bowl light blue shade.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with shiny texture on.",
+    "Set the dark inside bowl light blue outside over the bowl with shiny texture to create the stack.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Position the blue bowl with slightly rounded base and stack the small bowl with brown edge securely onto it.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the curved bowl light blue shade.",
+    "Grasp the medium-sized bowl for holding food, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture above it.",
+    "Lift the bowl with shiny texture and position it neatly over the curved bowl light blue shade.",
+    "Take the curved bowl light blue shade, position it, then stack the small bowl with brown edge directly above.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Grab the small bowl with brown edge, then carefully place the glazed bowl with curved sides on top."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode93.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode93.json
new file mode 100644
index 0000000000000000000000000000000000000000..869a0eb4617aa927b8c489f95cd5dbdbb2246b23
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode93.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the ceramic bowl, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Stack the dark inside bowl light blue outside securely on top of the rounded bowl with light blue color.",
+    "Hold the glazed bowl with curved sides and stack the blue bowl with slightly rounded base neatly atop.",
+    "Grab the curved bowl light blue shade, then stack the medium-sized bowl for holding food on top.",
+    "Place the curved bowl light blue shade down, then set the medium-sized bowl for holding food above it.",
+    "Position the rounded bowl with light blue color with the arm, then set the bowl with shiny texture above it.",
+    "Use the arm to place the medium-sized bowl for holding food, then stack the medium-sized bowl for holding food on top.",
+    "Use the left arm for the blue bowl, place it, and stack the glazed bowl with curved sides with the right arm.",
+    "Place the blue bowl with slightly rounded base down, then set the blue bowl with slightly rounded base on top of the blue bowl with slightly rounded base.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Grab the rounded bowl with light blue color, then carefully place the blue bowl on top.",
+    "Align the glazed bowl with curved sides over the glazed bowl with curved sides, then complete the stack.",
+    "the curved bowl light blue shade goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Grab the bowl with shiny texture, position it, and place the bowl with shiny texture on top.",
+    "Position the rounded bowl with light blue color carefully on the medium-sized bowl for holding food.",
+    "Place the dark inside bowl light blue outside down and stack the rounded bowl with light blue color on top.",
+    "Pick up the small bowl with brown edge using the left arm, then stack the bowl with brown outer rim using the right arm.",
+    "Hold the blue bowl steady and slide the ceramic bowl with earthy brown trim on.",
+    "Lift the bowl with brown outer rim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick up the ceramic bowl, place it down, then position the dark inside bowl light blue outside on top.",
+    "Lift the bowl with brown outer rim, grab the ceramic bowl, and set the ceramic bowl on the bowl with brown outer rim.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the glazed bowl with curved sides.",
+    "Grab the medium-sized bowl for holding food with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Lift the ceramic bowl, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick up the ceramic bowl and set the blue bowl with slightly rounded base on it.",
+    "Take the bowl with brown outer rim, place it, and stack the bowl with shiny texture on top.",
+    "Pick the medium-sized bowl for holding food, position the blue bowl, and place it over the medium-sized bowl for holding food.",
+    "Align the ceramic bowl and the blue bowl, then stack the blue bowl on the ceramic bowl.",
+    "Take the ceramic bowl with earthy brown trim, align the bowl with brown outer rim, and stack them.",
+    "Position the bowl with shiny texture and stack the dark inside bowl light blue outside securely onto it.",
+    "Set the bowl with brown outer rim over the bowl with shiny texture to create the stack.",
+    "Stack the dark inside bowl light blue outside carefully over the ceramic bowl.",
+    "Pick the dark inside bowl light blue outside, then stack the blue bowl on it.",
+    "Pick up the rounded bowl with light blue color, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the rounded bowl with light blue color.",
+    "Set the curved bowl light blue shade down, then add the small bowl with brown edge over it.",
+    "Place the blue bowl with slightly rounded base on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the bowl with shiny texture and position it neatly over the rounded bowl with light blue color.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Lift the blue bowl using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the right arm.",
+    "Grab the dark inside bowl light blue outside, lift it up, position the blue bowl with slightly rounded base, and stack them.",
+    "Position the medium-sized bowl for holding food, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Take the bowl with shiny texture, place the curved bowl light blue shade above, and let go.",
+    "Set down the curved bowl light blue shade and drop the small bowl with brown edge on top.",
+    "With the left arm, lift the ceramic bowl with earthy brown trim and stack the medium-sized bowl for holding food using the right arm.",
+    "Take the bowl with brown outer rim, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Stack the rounded bowl with light blue color securely on top of the rounded bowl with light blue color.",
+    "Hold the blue bowl and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Grab the small bowl with brown edge, then stack the curved bowl light blue shade on top.",
+    "Place the ceramic bowl down, then set the rounded bowl with light blue color above it.",
+    "Position the ceramic bowl with earthy brown trim with the arm, then set the blue bowl with slightly rounded base above it.",
+    "Use the arm to place the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge on top of the curved bowl light blue shade.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the blue bowl above.",
+    "Pick the bowl with shiny texture, position on the table, and place the medium-sized bowl for holding food over it.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Align the blue bowl over the curved bowl light blue shade, then complete the stack.",
+    "the dark inside bowl light blue outside goes at the bottom, the curved bowl light blue shade rests above.",
+    "Grab the small bowl with brown edge, position it, and place the rounded bowl with light blue color on top.",
+    "Position the rounded bowl with light blue color carefully on the small bowl with brown edge.",
+    "Place the glazed bowl with curved sides down and stack the blue bowl with slightly rounded base on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the blue bowl with slightly rounded base using the right arm.",
+    "Hold the medium-sized bowl for holding food steady and slide the curved bowl light blue shade on.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the glazed bowl with curved sides on top.",
+    "Lift the glazed bowl with curved sides, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the glazed bowl with curved sides.",
+    "Arrange the bowl with shiny texture, lift the blue bowl with slightly rounded base with the arm, and stack them.",
+    "Lift the ceramic bowl, then stack it on the blue bowl.",
+    "Grab the small bowl with brown edge with the left arm, place it, and stack the bowl with brown outer rim with the right arm.",
+    "Grab the rounded bowl with light blue color, set it down, then place the bowl with shiny texture over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl and set the medium-sized bowl for holding food on it.",
+    "Take the rounded bowl with light blue color, place it, and stack the medium-sized bowl for holding food on top.",
+    "Pick the bowl with brown outer rim, position the blue bowl with slightly rounded base, and place it over the bowl with brown outer rim.",
+    "Align the medium-sized bowl for holding food and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, align the blue bowl with slightly rounded base, and stack them.",
+    "Position the curved bowl light blue shade and stack the bowl with shiny texture securely onto it.",
+    "Set the medium-sized bowl for holding food over the curved bowl light blue shade to create the stack.",
+    "Stack the ceramic bowl carefully over the medium-sized bowl for holding food.",
+    "Pick the glazed bowl with curved sides, then stack the glazed bowl with curved sides on it.",
+    "Pick up the bowl with brown outer rim, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the bowl with brown outer rim.",
+    "Set the ceramic bowl with earthy brown trim down, then add the blue bowl over it.",
+    "Place the bowl with brown outer rim on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the ceramic bowl and position it neatly over the small bowl with brown edge.",
+    "Put the glazed bowl with curved sides first, then bring the blue bowl to stack above.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the dark inside bowl light blue outside using the right arm.",
+    "Grab the bowl with brown outer rim, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Position the bowl with brown outer rim, lift the small bowl with brown edge, and place the small bowl with brown edge on the bowl with brown outer rim.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the bowl with brown outer rim on top.",
+    "Grasp the rounded bowl with light blue color, then use the arm to align and stack the ceramic bowl.",
+    "Take the bowl with brown outer rim, place the bowl with shiny texture above, and let go.",
+    "Set down the curved bowl light blue shade and drop the ceramic bowl with earthy brown trim on top.",
+    "With the left arm, lift the bowl with shiny texture and stack the glazed bowl with curved sides using the right arm.",
+    "Take the dark inside bowl light blue outside, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Stack the ceramic bowl securely on top of the curved bowl light blue shade."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode94.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode94.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e2bd065f224f43eca84dc760f5d4df0c1bc9f03
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode94.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the small bowl with brown edge using the right arm, then stack the dark inside bowl light blue outside using the left arm.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the small bowl with brown edge, then stack it on the glazed bowl with curved sides.",
+    "Place the medium-sized bowl for holding food down and stack the dark inside bowl light blue outside on top.",
+    "Pick the dark inside bowl light blue outside, then stack the ceramic bowl on it.",
+    "Hold the small bowl with brown edge steady and slide the ceramic bowl with earthy brown trim on.",
+    "Align the medium-sized bowl for holding food and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, place the ceramic bowl above, and let go.",
+    "Stack the bowl with brown outer rim carefully over the curved bowl light blue shade.",
+    "Set down the bowl with shiny texture and drop the ceramic bowl with earthy brown trim on top.",
+    "Grab the small bowl with brown edge, position it, and place the medium-sized bowl for holding food on top.",
+    "Position the small bowl with brown edge carefully on the bowl with shiny texture.",
+    "Position the blue bowl, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl.",
+    "Pick the dark inside bowl light blue outside, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Lift the rounded bowl with light blue color using the right arm, set it down, and stack the medium-sized bowl for holding food using the left arm.",
+    "Stack the blue bowl with slightly rounded base securely on top of the blue bowl.",
+    "Place the glazed bowl with curved sides on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Grab the ceramic bowl, set it down, then place the rounded bowl with light blue color over it.",
+    "Position the small bowl with brown edge with the arm, then set the rounded bowl with light blue color above it.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the curved bowl light blue shade with the left arm.",
+    "Grab the glazed bowl with curved sides with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Hold the bowl with brown outer rim and stack the ceramic bowl neatly atop.",
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top.",
+    "Set the rounded bowl with light blue color over the curved bowl light blue shade to create the stack.",
+    "Take the curved bowl light blue shade, align the bowl with shiny texture, and stack them.",
+    "Put the dark inside bowl light blue outside first, then bring the bowl with brown outer rim to stack above.",
+    "Grab the bowl with brown outer rim, then stack the curved bowl light blue shade on top.",
+    "Pick up the rounded bowl with light blue color, grab the bowl with shiny texture, and stack the bowl with shiny texture on the rounded bowl with light blue color.",
+    "Align the ceramic bowl with earthy brown trim over the dark inside bowl light blue outside, then complete the stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Place the rounded bowl with light blue color down, then set the rounded bowl with light blue color above it.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Arrange the blue bowl, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the blue bowl, stack it precisely on top of the bowl with shiny texture.",
+    "the bowl with brown outer rim goes at the bottom, the small bowl with brown edge rests above.",
+    "With the right arm, lift the ceramic bowl and stack the medium-sized bowl for holding food using the left arm.",
+    "Pick the bowl with shiny texture, position the small bowl with brown edge, and place it over the bowl with shiny texture.",
+    "Place the ceramic bowl with earthy brown trim down, then set the small bowl with brown edge on top of the ceramic bowl with earthy brown trim.",
+    "Pick up the bowl with shiny texture, place it down, then position the ceramic bowl on top.",
+    "Pick up the medium-sized bowl for holding food and set the blue bowl on it.",
+    "Lift the ceramic bowl with earthy brown trim, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl with earthy brown trim.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the ceramic bowl with earthy brown trim on top.",
+    "Use the arm to place the bowl with brown outer rim, then stack the bowl with shiny texture on top.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl with slightly rounded base on top.",
+    "Lift the ceramic bowl, position the blue bowl with slightly rounded base above it, and stack.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Pick up the curved bowl light blue shade using the right arm, then stack the small bowl with brown edge using the left arm.",
+    "Take the ceramic bowl with earthy brown trim, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the medium-sized bowl for holding food.",
+    "Place the ceramic bowl down and stack the blue bowl with slightly rounded base on top.",
+    "Pick the glazed bowl with curved sides, then stack the ceramic bowl on it.",
+    "Hold the ceramic bowl with earthy brown trim steady and slide the rounded bowl with light blue color on.",
+    "Align the rounded bowl with light blue color and the dark inside bowl light blue outside, then stack the dark inside bowl light blue outside on the rounded bowl with light blue color.",
+    "Take the blue bowl with slightly rounded base, place the bowl with shiny texture above, and let go.",
+    "Stack the ceramic bowl with earthy brown trim carefully over the bowl with brown outer rim.",
+    "Set down the small bowl with brown edge and drop the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the rounded bowl with light blue color on top.",
+    "Position the curved bowl light blue shade carefully on the medium-sized bowl for holding food.",
+    "Position the small bowl with brown edge, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the small bowl with brown edge.",
+    "Pick the ceramic bowl with earthy brown trim, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the dark inside bowl light blue outside using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the blue bowl with slightly rounded base.",
+    "Place the blue bowl on the surface, then stack the ceramic bowl above it.",
+    "Grab the blue bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Position the small bowl with brown edge with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Position the medium-sized bowl for holding food and stack the medium-sized bowl for holding food securely onto it.",
+    "Hold the glazed bowl with curved sides and stack the small bowl with brown edge neatly atop.",
+    "Take the glazed bowl with curved sides, place it, and stack the blue bowl with slightly rounded base on top.",
+    "Set the glazed bowl with curved sides over the bowl with brown outer rim to create the stack.",
+    "Take the rounded bowl with light blue color, align the medium-sized bowl for holding food, and stack them.",
+    "Put the bowl with brown outer rim first, then bring the blue bowl with slightly rounded base to stack above.",
+    "Grab the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Pick up the ceramic bowl, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the ceramic bowl.",
+    "Align the bowl with brown outer rim over the medium-sized bowl for holding food, then complete the stack.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the curved bowl light blue shade.",
+    "Place the dark inside bowl light blue outside down, then set the blue bowl above it.",
+    "Set the bowl with shiny texture down, then add the medium-sized bowl for holding food over it.",
+    "Arrange the dark inside bowl light blue outside, lift the curved bowl light blue shade with the arm, and stack them.",
+    "Lift the rounded bowl with light blue color, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "the medium-sized bowl for holding food goes at the bottom, the rounded bowl with light blue color rests above.",
+    "With the right arm, lift the small bowl with brown edge and stack the blue bowl using the left arm.",
+    "Pick the ceramic bowl, position the bowl with brown outer rim, and place it over the ceramic bowl.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture on top of the glazed bowl with curved sides.",
+    "Pick up the bowl with shiny texture, place it down, then position the blue bowl on top.",
+    "Pick up the blue bowl with slightly rounded base and set the bowl with shiny texture on it.",
+    "Lift the curved bowl light blue shade, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the curved bowl light blue shade.",
+    "Grab the ceramic bowl, lift it up, position the rounded bowl with light blue color, and stack them.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the blue bowl with slightly rounded base on top.",
+    "Use the arm to place the curved bowl light blue shade, then stack the blue bowl on top.",
+    "Grab the ceramic bowl with earthy brown trim, then carefully place the glazed bowl with curved sides on top.",
+    "Lift the blue bowl, position the blue bowl above it, and stack.",
+    "Lift the rounded bowl with light blue color and position it neatly over the small bowl with brown edge.",
+    "Lift the blue bowl with slightly rounded base, put it on the table, and stack the rounded bowl with light blue color above.",
+    "Pick up the ceramic bowl with earthy brown trim using the right arm, then stack the ceramic bowl using the left arm.",
+    "Take the glazed bowl with curved sides, position it, then stack the glazed bowl with curved sides directly above."
+  ],
+  "unseen": [
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode95.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode95.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd3f92abde78272218a947ec76cbde5de4ce9641
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode95.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ceramic bowl, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Align the ceramic bowl and the ceramic bowl with earthy brown trim, then stack the ceramic bowl with earthy brown trim on the ceramic bowl.",
+    "Position the dark inside bowl light blue outside, lift the small bowl with brown edge, and place the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Use the arm to place the bowl with brown outer rim, then stack the ceramic bowl on top.",
+    "Set the bowl with shiny texture down, then add the rounded bowl with light blue color over it.",
+    "Grab the ceramic bowl with the left arm, place it, and stack the ceramic bowl with the left arm.",
+    "Take the small bowl with brown edge, align the bowl with brown outer rim, and stack them.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the rounded bowl with light blue color on top.",
+    "Grab the rounded bowl with light blue color, lift it up, position the ceramic bowl with earthy brown trim, and stack them.",
+    "Pick up the rounded bowl with light blue color using the left arm, then stack the bowl with shiny texture using the left arm.",
+    "Hold the blue bowl with slightly rounded base and stack the ceramic bowl with earthy brown trim neatly atop.",
+    "Place the glazed bowl with curved sides down, then set the bowl with shiny texture above it.",
+    "Stack the rounded bowl with light blue color carefully over the glazed bowl with curved sides.",
+    "Lift the ceramic bowl with earthy brown trim, then stack it on the ceramic bowl with earthy brown trim.",
+    "Lift the ceramic bowl with earthy brown trim, position the blue bowl with slightly rounded base above it, and stack.",
+    "Pick the dark inside bowl light blue outside, then stack the bowl with brown outer rim on it.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with brown outer rim on.",
+    "the bowl with shiny texture goes at the bottom, the bowl with brown outer rim rests above.",
+    "Take the medium-sized bowl for holding food, position it, then stack the medium-sized bowl for holding food directly above.",
+    "Position the blue bowl with the arm, then set the medium-sized bowl for holding food above it.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the rounded bowl with light blue color on top.",
+    "Align the curved bowl light blue shade over the bowl with brown outer rim, then complete the stack.",
+    "Set the ceramic bowl over the medium-sized bowl for holding food to create the stack.",
+    "Arrange the dark inside bowl light blue outside, lift the bowl with brown outer rim with the arm, and stack them.",
+    "Lift the blue bowl with slightly rounded base using the left arm, set it down, and stack the ceramic bowl with earthy brown trim using the left arm.",
+    "Set down the blue bowl with slightly rounded base and drop the small bowl with brown edge on top.",
+    "Place the bowl with shiny texture down and stack the glazed bowl with curved sides on top.",
+    "Grab the glazed bowl with curved sides, position it, and place the small bowl with brown edge on top.",
+    "Take the medium-sized bowl for holding food, place the curved bowl light blue shade above, and let go.",
+    "Place the bowl with shiny texture down, then set the blue bowl with slightly rounded base on top of the bowl with shiny texture.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Stack the blue bowl with slightly rounded base securely on top of the glazed bowl with curved sides.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Lift the ceramic bowl, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the ceramic bowl.",
+    "With the left arm, lift the curved bowl light blue shade and stack the bowl with brown outer rim using the left arm.",
+    "Take the ceramic bowl, place it, and stack the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color, then stack the ceramic bowl on top.",
+    "Position the small bowl with brown edge and stack the glazed bowl with curved sides securely onto it.",
+    "Lift the curved bowl light blue shade and position it neatly over the glazed bowl with curved sides.",
+    "Pick up the small bowl with brown edge, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the small bowl with brown edge.",
+    "Pick the small bowl with brown edge, position the curved bowl light blue shade, and place it over the small bowl with brown edge.",
+    "Put the dark inside bowl light blue outside first, then bring the curved bowl light blue shade to stack above.",
+    "Position the medium-sized bowl for holding food carefully on the curved bowl light blue shade.",
+    "Place the ceramic bowl on the surface, then stack the ceramic bowl with earthy brown trim above it.",
+    "Use the left arm for the glazed bowl with curved sides, place it, and stack the bowl with brown outer rim with the left arm.",
+    "Pick up the ceramic bowl with earthy brown trim and set the blue bowl with slightly rounded base on it.",
+    "Grasp the ceramic bowl, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, put it on the table, and stack the blue bowl with slightly rounded base above.",
+    "Lift the ceramic bowl, stack it precisely on top of the medium-sized bowl for holding food.",
+    "Grab the ceramic bowl, set it down, then place the bowl with shiny texture over it.",
+    "Align the rounded bowl with light blue color and the blue bowl with slightly rounded base, then stack the blue bowl with slightly rounded base on the rounded bowl with light blue color.",
+    "Position the medium-sized bowl for holding food, lift the medium-sized bowl for holding food, and place the medium-sized bowl for holding food on the medium-sized bowl for holding food.",
+    "Use the arm to place the curved bowl light blue shade, then stack the curved bowl light blue shade on top.",
+    "Set the blue bowl down, then add the ceramic bowl over it.",
+    "Grab the bowl with brown outer rim with the left arm, place it, and stack the small bowl with brown edge with the left arm.",
+    "Take the dark inside bowl light blue outside, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Grab the curved bowl light blue shade, then carefully place the ceramic bowl on top.",
+    "Grab the small bowl with brown edge, lift it up, position the ceramic bowl, and stack them.",
+    "Pick up the medium-sized bowl for holding food using the left arm, then stack the bowl with brown outer rim using the left arm.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with brown outer rim neatly atop.",
+    "Place the blue bowl down, then set the dark inside bowl light blue outside above it.",
+    "Stack the curved bowl light blue shade carefully over the bowl with brown outer rim.",
+    "Lift the bowl with shiny texture, then stack it on the curved bowl light blue shade.",
+    "Lift the ceramic bowl with earthy brown trim, position the bowl with shiny texture above it, and stack.",
+    "Pick the bowl with shiny texture, then stack the bowl with shiny texture on it.",
+    "Hold the blue bowl steady and slide the curved bowl light blue shade on.",
+    "the glazed bowl with curved sides goes at the bottom, the bowl with shiny texture rests above.",
+    "Take the rounded bowl with light blue color, position it, then stack the small bowl with brown edge directly above.",
+    "Position the medium-sized bowl for holding food with the arm, then set the dark inside bowl light blue outside above it.",
+    "Pick up the bowl with brown outer rim, place it down, then position the rounded bowl with light blue color on top.",
+    "Align the bowl with brown outer rim over the glazed bowl with curved sides, then complete the stack.",
+    "Set the ceramic bowl with earthy brown trim over the blue bowl to create the stack.",
+    "Arrange the dark inside bowl light blue outside, lift the dark inside bowl light blue outside with the arm, and stack them.",
+    "Lift the ceramic bowl with earthy brown trim using the left arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Set down the glazed bowl with curved sides and drop the small bowl with brown edge on top.",
+    "Place the dark inside bowl light blue outside down and stack the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Take the bowl with brown outer rim, place the small bowl with brown edge above, and let go.",
+    "Place the dark inside bowl light blue outside down, then set the bowl with brown outer rim on top of the dark inside bowl light blue outside.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the small bowl with brown edge over it.",
+    "Stack the medium-sized bowl for holding food securely on top of the rounded bowl with light blue color.",
+    "Lift the ceramic bowl with earthy brown trim, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Lift the small bowl with brown edge, grab the blue bowl, and set the blue bowl on the small bowl with brown edge.",
+    "With the left arm, lift the small bowl with brown edge and stack the curved bowl light blue shade using the left arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the bowl with shiny texture on top.",
+    "Grab the blue bowl, then stack the blue bowl with slightly rounded base on top.",
+    "Position the ceramic bowl with earthy brown trim and stack the bowl with shiny texture securely onto it.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the rounded bowl with light blue color.",
+    "Pick up the curved bowl light blue shade, grab the bowl with shiny texture, and stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Pick the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides, and place it over the ceramic bowl with earthy brown trim.",
+    "Put the blue bowl with slightly rounded base first, then bring the curved bowl light blue shade to stack above.",
+    "Position the dark inside bowl light blue outside carefully on the rounded bowl with light blue color.",
+    "Place the small bowl with brown edge on the surface, then stack the rounded bowl with light blue color above it.",
+    "Use the left arm for the rounded bowl with light blue color, place it, and stack the blue bowl with the left arm.",
+    "Pick up the curved bowl light blue shade and set the ceramic bowl with earthy brown trim on it.",
+    "Grasp the ceramic bowl with earthy brown trim, then use the arm to align and stack the small bowl with brown edge.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the small bowl with brown edge above.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the dark inside bowl light blue outside.",
+    "Grab the glazed bowl with curved sides, set it down, then place the dark inside bowl light blue outside over it.",
+    "Align the rounded bowl with light blue color and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the rounded bowl with light blue color."
+  ],
+  "unseen": [
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode96.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode96.json
new file mode 100644
index 0000000000000000000000000000000000000000..3765971d770ff8df6ab322905637effe85c118e7
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode96.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue bowl with slightly rounded base, position it, then stack the medium-sized bowl for holding food directly above.",
+    "With the right arm, lift the glazed bowl with curved sides and stack the bowl with shiny texture using the left arm.",
+    "Position the bowl with shiny texture carefully on the ceramic bowl.",
+    "Pick up the ceramic bowl with earthy brown trim and set the ceramic bowl on it.",
+    "Lift the bowl with shiny texture using the right arm, set it down, and stack the bowl with shiny texture using the left arm.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the bowl with shiny texture.",
+    "Use the right arm for the ceramic bowl, place it, and stack the rounded bowl with light blue color with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, position the glazed bowl with curved sides above it, and stack.",
+    "Grab the ceramic bowl with earthy brown trim with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the small bowl with brown edge, set it down, then place the rounded bowl with light blue color over it.",
+    "Hold the ceramic bowl steady and slide the dark inside bowl light blue outside on.",
+    "Place the blue bowl down, then set the ceramic bowl with earthy brown trim above it.",
+    "Grab the blue bowl, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the ceramic bowl above, and let go.",
+    "Pick the blue bowl, position on the table, and place the blue bowl with slightly rounded base over it.",
+    "Use the arm to place the small bowl with brown edge, then stack the small bowl with brown edge on top.",
+    "Lift the ceramic bowl, stack it precisely on top of the ceramic bowl.",
+    "Grab the dark inside bowl light blue outside, position it, and place the medium-sized bowl for holding food on top.",
+    "Align the small bowl with brown edge over the blue bowl with slightly rounded base, then complete the stack.",
+    "Position the ceramic bowl with earthy brown trim and stack the curved bowl light blue shade securely onto it.",
+    "Lift the rounded bowl with light blue color, then stack it on the ceramic bowl with earthy brown trim.",
+    "Grab the bowl with shiny texture, then stack the ceramic bowl with earthy brown trim on top.",
+    "Position the blue bowl with slightly rounded base, lift the bowl with shiny texture, and place the bowl with shiny texture on the blue bowl with slightly rounded base.",
+    "Set down the bowl with brown outer rim and drop the blue bowl with slightly rounded base on top.",
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Hold the medium-sized bowl for holding food and stack the medium-sized bowl for holding food neatly atop.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the medium-sized bowl for holding food on top.",
+    "Set the bowl with shiny texture down, then add the curved bowl light blue shade over it.",
+    "Pick the small bowl with brown edge, position the blue bowl, and place it over the small bowl with brown edge.",
+    "Pick up the glazed bowl with curved sides using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the medium-sized bowl for holding food above it.",
+    "Stack the glazed bowl with curved sides carefully over the blue bowl with slightly rounded base.",
+    "Pick up the glazed bowl with curved sides, grab the medium-sized bowl for holding food, and stack the medium-sized bowl for holding food on the glazed bowl with curved sides.",
+    "Set the ceramic bowl over the small bowl with brown edge to create the stack.",
+    "the medium-sized bowl for holding food goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Align the ceramic bowl with earthy brown trim and the curved bowl light blue shade, then stack the curved bowl light blue shade on the ceramic bowl with earthy brown trim.",
+    "Place the curved bowl light blue shade down, then set the bowl with brown outer rim on top of the curved bowl light blue shade.",
+    "Pick the bowl with brown outer rim, then stack the blue bowl with slightly rounded base on it.",
+    "Take the rounded bowl with light blue color, align the bowl with brown outer rim, and stack them.",
+    "Place the glazed bowl with curved sides on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the medium-sized bowl for holding food, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Stack the blue bowl with slightly rounded base securely on top of the medium-sized bowl for holding food.",
+    "Pick up the bowl with brown outer rim, place it down, then position the medium-sized bowl for holding food on top.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the glazed bowl with curved sides.",
+    "Grab the dark inside bowl light blue outside, then carefully place the blue bowl on top.",
+    "Place the bowl with brown outer rim down and stack the dark inside bowl light blue outside on top.",
+    "Put the dark inside bowl light blue outside first, then bring the rounded bowl with light blue color to stack above.",
+    "Lift the blue bowl, grab the dark inside bowl light blue outside, and set the dark inside bowl light blue outside on the blue bowl.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the glazed bowl with curved sides above.",
+    "Take the blue bowl, position it, then stack the glazed bowl with curved sides directly above.",
+    "With the right arm, lift the bowl with shiny texture and stack the bowl with shiny texture using the left arm.",
+    "Position the glazed bowl with curved sides carefully on the glazed bowl with curved sides.",
+    "Pick up the rounded bowl with light blue color and set the glazed bowl with curved sides on it.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl.",
+    "Use the right arm for the ceramic bowl, place it, and stack the ceramic bowl with earthy brown trim with the left arm.",
+    "Lift the ceramic bowl with earthy brown trim, position the medium-sized bowl for holding food above it, and stack.",
+    "Grab the curved bowl light blue shade with the right arm, place it, and stack the dark inside bowl light blue outside with the left arm.",
+    "Grab the blue bowl with slightly rounded base, set it down, then place the medium-sized bowl for holding food over it.",
+    "Hold the medium-sized bowl for holding food steady and slide the medium-sized bowl for holding food on.",
+    "Place the dark inside bowl light blue outside down, then set the ceramic bowl above it.",
+    "Grab the glazed bowl with curved sides, lift it up, position the bowl with shiny texture, and stack them.",
+    "Take the blue bowl with slightly rounded base, place the dark inside bowl light blue outside above, and let go.",
+    "Pick the medium-sized bowl for holding food, position on the table, and place the bowl with brown outer rim over it.",
+    "Use the arm to place the ceramic bowl with earthy brown trim, then stack the small bowl with brown edge on top.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Grab the dark inside bowl light blue outside, position it, and place the bowl with shiny texture on top.",
+    "Align the bowl with brown outer rim over the bowl with brown outer rim, then complete the stack.",
+    "Position the blue bowl with slightly rounded base and stack the curved bowl light blue shade securely onto it.",
+    "Lift the small bowl with brown edge, then stack it on the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, then stack the small bowl with brown edge on top.",
+    "Position the blue bowl with slightly rounded base, lift the curved bowl light blue shade, and place the curved bowl light blue shade on the blue bowl with slightly rounded base.",
+    "Set down the rounded bowl with light blue color and drop the rounded bowl with light blue color on top.",
+    "Arrange the blue bowl, lift the small bowl with brown edge with the arm, and stack them.",
+    "Hold the rounded bowl with light blue color and stack the rounded bowl with light blue color neatly atop.",
+    "Take the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade on top.",
+    "Set the bowl with brown outer rim down, then add the small bowl with brown edge over it.",
+    "Pick the ceramic bowl, position the small bowl with brown edge, and place it over the ceramic bowl.",
+    "Pick up the dark inside bowl light blue outside using the right arm, then stack the glazed bowl with curved sides using the left arm.",
+    "Position the blue bowl with slightly rounded base with the arm, then set the ceramic bowl above it.",
+    "Stack the medium-sized bowl for holding food carefully over the ceramic bowl with earthy brown trim.",
+    "Pick up the dark inside bowl light blue outside, grab the curved bowl light blue shade, and stack the curved bowl light blue shade on the dark inside bowl light blue outside.",
+    "Set the curved bowl light blue shade over the curved bowl light blue shade to create the stack.",
+    "the bowl with brown outer rim goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Align the small bowl with brown edge and the rounded bowl with light blue color, then stack the rounded bowl with light blue color on the small bowl with brown edge.",
+    "Place the ceramic bowl down, then set the bowl with shiny texture on top of the ceramic bowl.",
+    "Pick the medium-sized bowl for holding food, then stack the blue bowl with slightly rounded base on it.",
+    "Take the bowl with shiny texture, align the glazed bowl with curved sides, and stack them.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Lift the blue bowl, lay it down, and stack the rounded bowl with light blue color on top.",
+    "Stack the ceramic bowl securely on top of the medium-sized bowl for holding food.",
+    "Pick up the ceramic bowl, place it down, then position the ceramic bowl on top.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the bowl with brown outer rim.",
+    "Grab the curved bowl light blue shade, then carefully place the rounded bowl with light blue color on top.",
+    "Place the small bowl with brown edge down and stack the blue bowl on top.",
+    "Put the curved bowl light blue shade first, then bring the dark inside bowl light blue outside to stack above.",
+    "Lift the bowl with brown outer rim, grab the blue bowl, and set the blue bowl on the bowl with brown outer rim.",
+    "Lift the rounded bowl with light blue color, put it on the table, and stack the small bowl with brown edge above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the medium-sized bowl for holding food directly above.",
+    "With the right arm, lift the rounded bowl with light blue color and stack the ceramic bowl with earthy brown trim using the left arm."
+  ],
+  "unseen": [
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the light blue bowl with darkened rim.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode97.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode97.json
new file mode 100644
index 0000000000000000000000000000000000000000..114425a0f7688b6cb9a9eef686eadb6bf3c53bb5
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode97.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Arrange the ceramic bowl with earthy brown trim, lift the ceramic bowl with earthy brown trim with the arm, and stack them.",
+    "Pick up the bowl with shiny texture and set the ceramic bowl on it.",
+    "Pick the medium-sized bowl for holding food, position the small bowl with brown edge, and place it over the medium-sized bowl for holding food.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Place the small bowl with brown edge down, then set the small bowl with brown edge on top of the small bowl with brown edge.",
+    "Put the ceramic bowl first, then bring the ceramic bowl to stack above.",
+    "Pick up the curved bowl light blue shade, grab the ceramic bowl, and stack the ceramic bowl on the curved bowl light blue shade.",
+    "Lift the rounded bowl with light blue color and position it neatly over the ceramic bowl.",
+    "Take the dark inside bowl light blue outside, place the bowl with shiny texture above, and let go.",
+    "Position the medium-sized bowl for holding food and stack the blue bowl securely onto it.",
+    "Lift the bowl with shiny texture, grab the bowl with brown outer rim, and set the bowl with brown outer rim on the bowl with shiny texture.",
+    "Set the ceramic bowl over the bowl with brown outer rim to create the stack.",
+    "Position the medium-sized bowl for holding food, lift the dark inside bowl light blue outside, and place the dark inside bowl light blue outside on the medium-sized bowl for holding food.",
+    "With the left arm, lift the bowl with brown outer rim and stack the small bowl with brown edge using the right arm.",
+    "Position the medium-sized bowl for holding food with the arm, then set the bowl with shiny texture above it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the ceramic bowl, and stack them.",
+    "Stack the blue bowl with slightly rounded base securely on top of the ceramic bowl.",
+    "Take the rounded bowl with light blue color, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Stack the ceramic bowl carefully over the dark inside bowl light blue outside.",
+    "Pick up the ceramic bowl with earthy brown trim, place it down, then position the dark inside bowl light blue outside on top.",
+    "Set down the blue bowl with slightly rounded base and drop the medium-sized bowl for holding food on top.",
+    "Hold the blue bowl steady and slide the bowl with shiny texture on.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Grab the blue bowl, then stack the blue bowl on top.",
+    "Lift the ceramic bowl, put it on the table, and stack the blue bowl above.",
+    "Grasp the blue bowl with slightly rounded base, then use the arm to align and stack the blue bowl with slightly rounded base.",
+    "Lift the small bowl with brown edge, lay it down, and stack the blue bowl on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the dark inside bowl light blue outside above it.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the medium-sized bowl for holding food down and stack the bowl with shiny texture on top.",
+    "Take the glazed bowl with curved sides, align the ceramic bowl with earthy brown trim, and stack them.",
+    "Take the glazed bowl with curved sides, place it, and stack the small bowl with brown edge on top.",
+    "Set the glazed bowl with curved sides down, then add the blue bowl over it.",
+    "Grab the curved bowl light blue shade, then carefully place the bowl with brown outer rim on top.",
+    "Lift the rounded bowl with light blue color using the left arm, set it down, and stack the ceramic bowl using the right arm.",
+    "Position the ceramic bowl with earthy brown trim carefully on the ceramic bowl with earthy brown trim.",
+    "the bowl with brown outer rim goes at the bottom, the bowl with shiny texture rests above.",
+    "Align the blue bowl over the medium-sized bowl for holding food, then complete the stack.",
+    "Place the bowl with shiny texture on the surface, then stack the medium-sized bowl for holding food above it.",
+    "Lift the blue bowl, stack it precisely on top of the rounded bowl with light blue color.",
+    "Use the left arm for the blue bowl, place it, and stack the dark inside bowl light blue outside with the right arm.",
+    "Pick the blue bowl with slightly rounded base, position on the table, and place the small bowl with brown edge over it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the blue bowl.",
+    "Use the arm to place the ceramic bowl, then stack the bowl with brown outer rim on top.",
+    "Grab the blue bowl with slightly rounded base with the left arm, place it, and stack the rounded bowl with light blue color with the right arm.",
+    "Grab the dark inside bowl light blue outside, position it, and place the ceramic bowl with earthy brown trim on top.",
+    "Pick up the bowl with brown outer rim using the left arm, then stack the bowl with shiny texture using the right arm.",
+    "Hold the ceramic bowl with earthy brown trim and stack the ceramic bowl neatly atop.",
+    "Lift the small bowl with brown edge, position the medium-sized bowl for holding food above it, and stack.",
+    "Arrange the ceramic bowl, lift the bowl with shiny texture with the arm, and stack them.",
+    "Pick up the dark inside bowl light blue outside and set the ceramic bowl with earthy brown trim on it.",
+    "Pick the rounded bowl with light blue color, position the dark inside bowl light blue outside, and place it over the rounded bowl with light blue color.",
+    "Pick the rounded bowl with light blue color, then stack the rounded bowl with light blue color on it.",
+    "Place the bowl with brown outer rim down, then set the bowl with brown outer rim on top of the bowl with brown outer rim.",
+    "Put the rounded bowl with light blue color first, then bring the curved bowl light blue shade to stack above.",
+    "Pick up the blue bowl with slightly rounded base, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the blue bowl with slightly rounded base.",
+    "Lift the medium-sized bowl for holding food and position it neatly over the small bowl with brown edge.",
+    "Take the blue bowl with slightly rounded base, place the blue bowl above, and let go.",
+    "Position the blue bowl and stack the blue bowl with slightly rounded base securely onto it.",
+    "Lift the curved bowl light blue shade, grab the blue bowl with slightly rounded base, and set the blue bowl with slightly rounded base on the curved bowl light blue shade.",
+    "Set the glazed bowl with curved sides over the curved bowl light blue shade to create the stack.",
+    "Position the blue bowl, lift the blue bowl, and place the blue bowl on the blue bowl.",
+    "With the left arm, lift the glazed bowl with curved sides and stack the bowl with brown outer rim using the right arm.",
+    "Position the glazed bowl with curved sides with the arm, then set the bowl with brown outer rim above it.",
+    "Grab the blue bowl with slightly rounded base, lift it up, position the glazed bowl with curved sides, and stack them.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the bowl with shiny texture.",
+    "Take the medium-sized bowl for holding food, position it, then stack the ceramic bowl directly above.",
+    "Stack the medium-sized bowl for holding food carefully over the bowl with brown outer rim.",
+    "Pick up the bowl with brown outer rim, place it down, then position the blue bowl on top.",
+    "Set down the blue bowl and drop the blue bowl on top.",
+    "Hold the dark inside bowl light blue outside steady and slide the blue bowl on.",
+    "Align the curved bowl light blue shade and the bowl with shiny texture, then stack the bowl with shiny texture on the curved bowl light blue shade.",
+    "Grab the bowl with brown outer rim, then stack the small bowl with brown edge on top.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with brown outer rim on top.",
+    "Place the ceramic bowl with earthy brown trim down, then set the blue bowl with slightly rounded base above it.",
+    "Grab the bowl with shiny texture, set it down, then place the blue bowl with slightly rounded base over it.",
+    "Place the curved bowl light blue shade down and stack the blue bowl on top.",
+    "Take the rounded bowl with light blue color, align the medium-sized bowl for holding food, and stack them.",
+    "Take the small bowl with brown edge, place it, and stack the medium-sized bowl for holding food on top.",
+    "Set the blue bowl down, then add the blue bowl with slightly rounded base over it.",
+    "Grab the curved bowl light blue shade, then carefully place the curved bowl light blue shade on top.",
+    "Lift the curved bowl light blue shade using the left arm, set it down, and stack the blue bowl using the right arm.",
+    "Position the bowl with brown outer rim carefully on the small bowl with brown edge.",
+    "the glazed bowl with curved sides goes at the bottom, the blue bowl rests above.",
+    "Align the bowl with shiny texture over the curved bowl light blue shade, then complete the stack.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the glazed bowl with curved sides above it.",
+    "Lift the blue bowl with slightly rounded base, stack it precisely on top of the small bowl with brown edge.",
+    "Use the left arm for the bowl with shiny texture, place it, and stack the ceramic bowl with earthy brown trim with the right arm.",
+    "Pick the rounded bowl with light blue color, position on the table, and place the glazed bowl with curved sides over it.",
+    "Lift the dark inside bowl light blue outside, then stack it on the ceramic bowl with earthy brown trim.",
+    "Use the arm to place the glazed bowl with curved sides, then stack the dark inside bowl light blue outside on top.",
+    "Grab the dark inside bowl light blue outside with the left arm, place it, and stack the ceramic bowl with the right arm.",
+    "Grab the blue bowl, position it, and place the blue bowl on top.",
+    "Pick up the ceramic bowl with earthy brown trim using the left arm, then stack the glazed bowl with curved sides using the right arm.",
+    "Hold the dark inside bowl light blue outside and stack the bowl with shiny texture neatly atop.",
+    "Lift the blue bowl with slightly rounded base, position the rounded bowl with light blue color above it, and stack.",
+    "Arrange the blue bowl with slightly rounded base, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick up the curved bowl light blue shade and set the curved bowl light blue shade on it."
+  ],
+  "unseen": [
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim carefully over the light blue bowl with darkened rim to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the light blue bowl with darkened rim onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode98.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode98.json
new file mode 100644
index 0000000000000000000000000000000000000000..90811ee8a34ec6f06a54f2d35e4a19b45a305c64
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode98.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the ceramic bowl down, then add the blue bowl over it.",
+    "Take the rounded bowl with light blue color, align the curved bowl light blue shade, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the blue bowl on top.",
+    "Grab the medium-sized bowl for holding food, position it, and place the curved bowl light blue shade on top.",
+    "Lift the blue bowl, then stack it on the blue bowl with slightly rounded base.",
+    "Lift the ceramic bowl with earthy brown trim, stack it precisely on top of the blue bowl with slightly rounded base.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the rounded bowl with light blue color over it.",
+    "Grasp the bowl with shiny texture, then use the arm to align and stack the ceramic bowl.",
+    "Place the rounded bowl with light blue color down, then set the medium-sized bowl for holding food above it.",
+    "Pick up the blue bowl using the right arm, then stack the bowl with shiny texture using the left arm.",
+    "Position the blue bowl with slightly rounded base, lift the rounded bowl with light blue color, and place the rounded bowl with light blue color on the blue bowl with slightly rounded base.",
+    "Use the right arm for the bowl with shiny texture, place it, and stack the bowl with brown outer rim with the left arm.",
+    "With the right arm, lift the ceramic bowl and stack the blue bowl with slightly rounded base using the left arm.",
+    "Take the blue bowl with slightly rounded base, place it, and stack the bowl with brown outer rim on top.",
+    "Lift the ceramic bowl with earthy brown trim, position the ceramic bowl above it, and stack.",
+    "Lift the medium-sized bowl for holding food using the right arm, set it down, and stack the blue bowl using the left arm.",
+    "Put the blue bowl with slightly rounded base first, then bring the bowl with brown outer rim to stack above.",
+    "Pick up the ceramic bowl and set the bowl with brown outer rim on it.",
+    "the small bowl with brown edge goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Hold the glazed bowl with curved sides and stack the medium-sized bowl for holding food neatly atop.",
+    "Lift the bowl with brown outer rim, grab the rounded bowl with light blue color, and set the rounded bowl with light blue color on the bowl with brown outer rim.",
+    "Pick the curved bowl light blue shade, position the bowl with brown outer rim, and place it over the curved bowl light blue shade.",
+    "Grab the bowl with shiny texture, lift it up, position the curved bowl light blue shade, and stack them.",
+    "Position the blue bowl with the arm, then set the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl, then carefully place the curved bowl light blue shade on top.",
+    "Stack the bowl with shiny texture carefully over the dark inside bowl light blue outside.",
+    "Arrange the dark inside bowl light blue outside, lift the small bowl with brown edge with the arm, and stack them.",
+    "Pick the ceramic bowl, then stack the rounded bowl with light blue color on it.",
+    "Lift the bowl with brown outer rim, lay it down, and stack the glazed bowl with curved sides on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the rounded bowl with light blue color on top.",
+    "Set the glazed bowl with curved sides over the ceramic bowl to create the stack.",
+    "Position the bowl with shiny texture carefully on the dark inside bowl light blue outside.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the bowl with brown outer rim above.",
+    "Take the dark inside bowl light blue outside, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Place the blue bowl down, then set the blue bowl on top of the blue bowl.",
+    "Stack the small bowl with brown edge securely on top of the blue bowl.",
+    "Hold the medium-sized bowl for holding food steady and slide the ceramic bowl on.",
+    "Position the bowl with shiny texture and stack the bowl with brown outer rim securely onto it.",
+    "Place the dark inside bowl light blue outside on the surface, then stack the small bowl with brown edge above it.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the blue bowl down and stack the dark inside bowl light blue outside on top.",
+    "Take the blue bowl, place the bowl with brown outer rim above, and let go.",
+    "Grab the medium-sized bowl for holding food, set it down, then place the ceramic bowl with earthy brown trim over it.",
+    "Align the rounded bowl with light blue color over the bowl with brown outer rim, then complete the stack.",
+    "Pick up the dark inside bowl light blue outside, grab the bowl with shiny texture, and stack the bowl with shiny texture on the dark inside bowl light blue outside.",
+    "Lift the ceramic bowl and position it neatly over the dark inside bowl light blue outside.",
+    "Grab the small bowl with brown edge, then stack the glazed bowl with curved sides on top.",
+    "Align the glazed bowl with curved sides and the small bowl with brown edge, then stack the small bowl with brown edge on the glazed bowl with curved sides.",
+    "Set down the small bowl with brown edge and drop the medium-sized bowl for holding food on top.",
+    "Set the bowl with shiny texture down, then add the glazed bowl with curved sides over it.",
+    "Take the glazed bowl with curved sides, align the glazed bowl with curved sides, and stack them.",
+    "Use the arm to place the blue bowl, then stack the bowl with brown outer rim on top.",
+    "Grab the rounded bowl with light blue color, position it, and place the ceramic bowl on top.",
+    "Lift the curved bowl light blue shade, then stack it on the medium-sized bowl for holding food.",
+    "Lift the curved bowl light blue shade, stack it precisely on top of the ceramic bowl with earthy brown trim.",
+    "Pick the glazed bowl with curved sides, position on the table, and place the ceramic bowl with earthy brown trim over it.",
+    "Grasp the dark inside bowl light blue outside, then use the arm to align and stack the bowl with shiny texture.",
+    "Place the bowl with brown outer rim down, then set the small bowl with brown edge above it.",
+    "Pick up the bowl with shiny texture using the right arm, then stack the ceramic bowl using the left arm.",
+    "Position the small bowl with brown edge, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the small bowl with brown edge.",
+    "Use the right arm for the curved bowl light blue shade, place it, and stack the blue bowl with slightly rounded base with the left arm.",
+    "With the right arm, lift the blue bowl and stack the bowl with brown outer rim using the left arm.",
+    "Take the rounded bowl with light blue color, place it, and stack the curved bowl light blue shade on top.",
+    "Lift the bowl with shiny texture, position the curved bowl light blue shade above it, and stack.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the bowl with brown outer rim using the left arm.",
+    "Put the medium-sized bowl for holding food first, then bring the rounded bowl with light blue color to stack above.",
+    "Pick up the ceramic bowl and set the ceramic bowl on it.",
+    "the medium-sized bowl for holding food goes at the bottom, the medium-sized bowl for holding food rests above.",
+    "Hold the curved bowl light blue shade and stack the glazed bowl with curved sides neatly atop.",
+    "Lift the dark inside bowl light blue outside, grab the small bowl with brown edge, and set the small bowl with brown edge on the dark inside bowl light blue outside.",
+    "Pick the bowl with brown outer rim, position the small bowl with brown edge, and place it over the bowl with brown outer rim.",
+    "Grab the rounded bowl with light blue color, lift it up, position the dark inside bowl light blue outside, and stack them.",
+    "Position the glazed bowl with curved sides with the arm, then set the glazed bowl with curved sides above it.",
+    "Grab the dark inside bowl light blue outside, then carefully place the dark inside bowl light blue outside on top.",
+    "Stack the bowl with shiny texture carefully over the glazed bowl with curved sides.",
+    "Arrange the ceramic bowl, lift the rounded bowl with light blue color with the arm, and stack them.",
+    "Pick the rounded bowl with light blue color, then stack the medium-sized bowl for holding food on it.",
+    "Lift the dark inside bowl light blue outside, lay it down, and stack the dark inside bowl light blue outside on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the bowl with brown outer rim on top.",
+    "Set the small bowl with brown edge over the blue bowl to create the stack.",
+    "Position the medium-sized bowl for holding food carefully on the blue bowl.",
+    "Lift the glazed bowl with curved sides, put it on the table, and stack the medium-sized bowl for holding food above.",
+    "Take the bowl with brown outer rim, position it, then stack the dark inside bowl light blue outside directly above.",
+    "Place the small bowl with brown edge down, then set the dark inside bowl light blue outside on top of the small bowl with brown edge.",
+    "Stack the small bowl with brown edge securely on top of the medium-sized bowl for holding food.",
+    "Hold the dark inside bowl light blue outside steady and slide the glazed bowl with curved sides on.",
+    "Position the ceramic bowl and stack the ceramic bowl with earthy brown trim securely onto it.",
+    "Place the blue bowl on the surface, then stack the dark inside bowl light blue outside above it.",
+    "Grab the ceramic bowl with the right arm, place it, and stack the blue bowl with the left arm.",
+    "Place the dark inside bowl light blue outside down and stack the blue bowl with slightly rounded base on top.",
+    "Take the curved bowl light blue shade, place the small bowl with brown edge above, and let go.",
+    "Grab the rounded bowl with light blue color, set it down, then place the small bowl with brown edge over it.",
+    "Align the dark inside bowl light blue outside over the glazed bowl with curved sides, then complete the stack.",
+    "Pick up the ceramic bowl, grab the blue bowl with slightly rounded base, and stack the blue bowl with slightly rounded base on the ceramic bowl.",
+    "Lift the blue bowl and position it neatly over the ceramic bowl.",
+    "Grab the blue bowl, then stack the medium-sized bowl for holding food on top.",
+    "Align the dark inside bowl light blue outside and the glazed bowl with curved sides, then stack the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "Set down the ceramic bowl with earthy brown trim and drop the bowl with brown outer rim on top.",
+    "Set the curved bowl light blue shade down, then add the blue bowl over it.",
+    "Take the bowl with brown outer rim, align the dark inside bowl light blue outside, and stack them."
+  ],
+  "unseen": [
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the smooth bowl with glossy finish.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the smooth bowl with glossy finish and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the light blue bowl with darkened rim to stack them.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl down, then put the small smooth brown-rimmed bowl on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl on top of the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl carefully over the smooth bowl with glossy finish to stack them.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Place the light blue bowl with darkened rim onto the smooth bowl with glossy finish to form a stack.",
+    "Stack the smooth bowl with glossy finish directly over the smooth bowl with glossy finish.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the small smooth brown-rimmed bowl, then set the light blue bowl with darkened rim on top.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode99.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode99.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17990a3d303caa0d2b2e833ef1bd8b56747b7dc
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/instructions/episode99.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the arm to place the glazed bowl with curved sides, then stack the curved bowl light blue shade on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the ceramic bowl using the left arm.",
+    "Grab the blue bowl, then carefully place the curved bowl light blue shade on top.",
+    "Align the ceramic bowl over the glazed bowl with curved sides, then complete the stack.",
+    "Lift the dark inside bowl light blue outside and position it neatly over the rounded bowl with light blue color.",
+    "Lift the dark inside bowl light blue outside, put it on the table, and stack the curved bowl light blue shade above.",
+    "Pick up the bowl with brown outer rim and set the dark inside bowl light blue outside on it.",
+    "Place the medium-sized bowl for holding food on the surface, then stack the bowl with brown outer rim above it.",
+    "Set the small bowl with brown edge over the ceramic bowl with earthy brown trim to create the stack.",
+    "Position the blue bowl and stack the dark inside bowl light blue outside securely onto it.",
+    "Position the blue bowl carefully on the bowl with shiny texture.",
+    "Stack the small bowl with brown edge carefully over the dark inside bowl light blue outside.",
+    "Take the blue bowl with slightly rounded base, position it, then stack the ceramic bowl with earthy brown trim directly above.",
+    "Align the medium-sized bowl for holding food and the bowl with brown outer rim, then stack the bowl with brown outer rim on the medium-sized bowl for holding food.",
+    "Set down the ceramic bowl and drop the medium-sized bowl for holding food on top.",
+    "Set the ceramic bowl with earthy brown trim down, then add the glazed bowl with curved sides over it.",
+    "Place the medium-sized bowl for holding food down, then set the small bowl with brown edge on top of the medium-sized bowl for holding food.",
+    "Lift the bowl with shiny texture, lay it down, and stack the bowl with shiny texture on top.",
+    "Hold the curved bowl light blue shade steady and slide the bowl with brown outer rim on.",
+    "Pick the ceramic bowl, then stack the glazed bowl with curved sides on it.",
+    "Lift the glazed bowl with curved sides, position the rounded bowl with light blue color above it, and stack.",
+    "Grab the blue bowl with slightly rounded base, then stack the rounded bowl with light blue color on top.",
+    "With the right arm, lift the curved bowl light blue shade and stack the glazed bowl with curved sides using the left arm.",
+    "Pick up the small bowl with brown edge using the right arm, then stack the medium-sized bowl for holding food using the left arm.",
+    "Put the dark inside bowl light blue outside first, then bring the glazed bowl with curved sides to stack above.",
+    "Place the curved bowl light blue shade down, then set the small bowl with brown edge above it.",
+    "Use the right arm for the glazed bowl with curved sides, place it, and stack the ceramic bowl with the left arm.",
+    "Take the medium-sized bowl for holding food, place it, and stack the medium-sized bowl for holding food on top.",
+    "Grasp the glazed bowl with curved sides, then use the arm to align and stack the glazed bowl with curved sides.",
+    "Position the blue bowl with the arm, then set the curved bowl light blue shade above it.",
+    "Lift the rounded bowl with light blue color, grab the glazed bowl with curved sides, and set the glazed bowl with curved sides on the rounded bowl with light blue color.",
+    "Place the bowl with brown outer rim down and stack the glazed bowl with curved sides on top.",
+    "Take the bowl with brown outer rim, place the glazed bowl with curved sides above, and let go.",
+    "Pick up the bowl with brown outer rim, grab the bowl with brown outer rim, and stack the bowl with brown outer rim on the bowl with brown outer rim.",
+    "Stack the ceramic bowl with earthy brown trim securely on top of the medium-sized bowl for holding food.",
+    "Take the rounded bowl with light blue color, align the blue bowl with slightly rounded base, and stack them.",
+    "Pick the medium-sized bowl for holding food, position the ceramic bowl with earthy brown trim, and place it over the medium-sized bowl for holding food.",
+    "Lift the medium-sized bowl for holding food, then stack it on the dark inside bowl light blue outside.",
+    "Hold the bowl with shiny texture and stack the dark inside bowl light blue outside neatly atop.",
+    "Grab the small bowl with brown edge with the right arm, place it, and stack the glazed bowl with curved sides with the left arm.",
+    "Grab the ceramic bowl, set it down, then place the medium-sized bowl for holding food over it.",
+    "Lift the bowl with shiny texture, stack it precisely on top of the rounded bowl with light blue color.",
+    "Pick the blue bowl, position on the table, and place the glazed bowl with curved sides over it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the small bowl with brown edge, and stack them.",
+    "Grab the curved bowl light blue shade, position it, and place the rounded bowl with light blue color on top.",
+    "Pick up the bowl with shiny texture, place it down, then position the curved bowl light blue shade on top.",
+    "Position the bowl with shiny texture, lift the bowl with brown outer rim, and place the bowl with brown outer rim on the bowl with shiny texture.",
+    "the blue bowl with slightly rounded base goes at the bottom, the glazed bowl with curved sides rests above.",
+    "Arrange the curved bowl light blue shade, lift the blue bowl with the arm, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the medium-sized bowl for holding food on top.",
+    "Lift the small bowl with brown edge using the right arm, set it down, and stack the glazed bowl with curved sides using the left arm.",
+    "Grab the blue bowl with slightly rounded base, then carefully place the blue bowl on top.",
+    "Align the small bowl with brown edge over the ceramic bowl with earthy brown trim, then complete the stack.",
+    "Lift the bowl with brown outer rim and position it neatly over the blue bowl with slightly rounded base.",
+    "Lift the bowl with brown outer rim, put it on the table, and stack the bowl with shiny texture above.",
+    "Pick up the medium-sized bowl for holding food and set the ceramic bowl with earthy brown trim on it.",
+    "Place the ceramic bowl on the surface, then stack the blue bowl with slightly rounded base above it.",
+    "Set the bowl with brown outer rim over the curved bowl light blue shade to create the stack.",
+    "Position the ceramic bowl and stack the small bowl with brown edge securely onto it.",
+    "Position the bowl with brown outer rim carefully on the ceramic bowl.",
+    "Stack the glazed bowl with curved sides carefully over the ceramic bowl with earthy brown trim.",
+    "Take the blue bowl, position it, then stack the blue bowl with slightly rounded base directly above.",
+    "Align the blue bowl and the bowl with shiny texture, then stack the bowl with shiny texture on the blue bowl.",
+    "Set down the dark inside bowl light blue outside and drop the medium-sized bowl for holding food on top.",
+    "Set the medium-sized bowl for holding food down, then add the small bowl with brown edge over it.",
+    "Place the ceramic bowl down, then set the ceramic bowl on top of the ceramic bowl.",
+    "Lift the glazed bowl with curved sides, lay it down, and stack the bowl with shiny texture on top.",
+    "Hold the medium-sized bowl for holding food steady and slide the bowl with shiny texture on.",
+    "Pick the blue bowl, then stack the bowl with shiny texture on it.",
+    "Lift the rounded bowl with light blue color, position the blue bowl with slightly rounded base above it, and stack.",
+    "Grab the ceramic bowl, then stack the blue bowl on top.",
+    "With the right arm, lift the blue bowl and stack the ceramic bowl using the left arm.",
+    "Pick up the blue bowl with slightly rounded base using the right arm, then stack the curved bowl light blue shade using the left arm.",
+    "Put the ceramic bowl with earthy brown trim first, then bring the bowl with shiny texture to stack above.",
+    "Place the small bowl with brown edge down, then set the blue bowl with slightly rounded base above it.",
+    "Use the right arm for the ceramic bowl with earthy brown trim, place it, and stack the blue bowl with the left arm.",
+    "Take the ceramic bowl with earthy brown trim, place it, and stack the glazed bowl with curved sides on top.",
+    "Grasp the curved bowl light blue shade, then use the arm to align and stack the blue bowl.",
+    "Position the medium-sized bowl for holding food with the arm, then set the ceramic bowl with earthy brown trim above it.",
+    "Lift the glazed bowl with curved sides, grab the curved bowl light blue shade, and set the curved bowl light blue shade on the glazed bowl with curved sides.",
+    "Place the ceramic bowl with earthy brown trim down and stack the glazed bowl with curved sides on top.",
+    "Take the medium-sized bowl for holding food, place the rounded bowl with light blue color above, and let go.",
+    "Pick up the ceramic bowl with earthy brown trim, grab the ceramic bowl with earthy brown trim, and stack the ceramic bowl with earthy brown trim on the ceramic bowl with earthy brown trim.",
+    "Stack the medium-sized bowl for holding food securely on top of the medium-sized bowl for holding food.",
+    "Take the dark inside bowl light blue outside, align the medium-sized bowl for holding food, and stack them.",
+    "Pick the bowl with shiny texture, position the rounded bowl with light blue color, and place it over the bowl with shiny texture.",
+    "Lift the small bowl with brown edge, then stack it on the blue bowl.",
+    "Hold the small bowl with brown edge and stack the bowl with brown outer rim neatly atop.",
+    "Grab the bowl with shiny texture with the right arm, place it, and stack the ceramic bowl with the left arm.",
+    "Grab the dark inside bowl light blue outside, set it down, then place the bowl with shiny texture over it.",
+    "Lift the small bowl with brown edge, stack it precisely on top of the curved bowl light blue shade.",
+    "Pick the blue bowl, position on the table, and place the small bowl with brown edge over it.",
+    "Grab the medium-sized bowl for holding food, lift it up, position the blue bowl, and stack them.",
+    "Grab the medium-sized bowl for holding food, position it, and place the glazed bowl with curved sides on top.",
+    "Pick up the glazed bowl with curved sides, place it down, then position the medium-sized bowl for holding food on top.",
+    "Position the dark inside bowl light blue outside, lift the glazed bowl with curved sides, and place the glazed bowl with curved sides on the dark inside bowl light blue outside.",
+    "the blue bowl goes at the bottom, the blue bowl with slightly rounded base rests above.",
+    "Arrange the blue bowl with slightly rounded base, lift the blue bowl with the arm, and stack them.",
+    "Use the arm to place the ceramic bowl, then stack the glazed bowl with curved sides on top.",
+    "Lift the ceramic bowl with earthy brown trim using the right arm, set it down, and stack the small bowl with brown edge using the left arm."
+  ],
+  "unseen": [
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the small smooth brown-rimmed bowl above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the light blue bowl with darkened rim onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the small smooth brown-rimmed bowl, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the smooth bowl with glossy finish, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the light blue bowl with darkened rim on top.",
+    "Grab the smooth bowl with glossy finish and stack the smooth bowl with glossy finish on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the light blue bowl with darkened rim to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish above.",
+    "Grab the light blue bowl with darkened rim, then set the light blue bowl with darkened rim on top.",
+    "Place the light blue bowl with darkened rim down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl on it.",
+    "Stack the small smooth brown-rimmed bowl directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the small smooth brown-rimmed bowl above.",
+    "Grab the light blue bowl with darkened rim, then set the small smooth brown-rimmed bowl on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the small smooth brown-rimmed bowl on top of the smooth bowl with glossy finish.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the light blue bowl with darkened rim and stack the smooth bowl with glossy finish above.",
+    "Grab the smooth bowl with glossy finish, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the light blue bowl with darkened rim on it.",
+    "Stack the light blue bowl with darkened rim directly over the small smooth brown-rimmed bowl.",
+    "Place the small smooth brown-rimmed bowl onto the smooth bowl with glossy finish to form a stack.",
+    "Place the light blue bowl with darkened rim carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the smooth bowl with glossy finish on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the smooth bowl with glossy finish and stack the smooth bowl with glossy finish above.",
+    "Grab the small smooth brown-rimmed bowl, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the light blue bowl with darkened rim directly over the light blue bowl with darkened rim.",
+    "Place the smooth bowl with glossy finish onto the light blue bowl with darkened rim to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the light blue bowl with darkened rim, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the smooth bowl with glossy finish and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the light blue bowl with darkened rim to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the smooth bowl with glossy finish.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the light blue bowl with darkened rim on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim above.",
+    "Grab the light blue bowl with darkened rim, then set the smooth bowl with glossy finish on top.",
+    "Place the small smooth brown-rimmed bowl down, then put the light blue bowl with darkened rim on top.",
+    "Grab the light blue bowl with darkened rim and stack the smooth bowl with glossy finish on it.",
+    "Stack the smooth bowl with glossy finish directly over the small smooth brown-rimmed bowl.",
+    "Place the smooth bowl with glossy finish onto the smooth bowl with glossy finish to form a stack.",
+    "Place the small smooth brown-rimmed bowl carefully over the small smooth brown-rimmed bowl to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the light blue bowl with darkened rim.",
+    "Take the small smooth brown-rimmed bowl, set it down, and stack the small smooth brown-rimmed bowl on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the smooth bowl with glossy finish down, then put the smooth bowl with glossy finish on top.",
+    "Grab the small smooth brown-rimmed bowl and stack the light blue bowl with darkened rim on it.",
+    "Stack the smooth bowl with glossy finish directly over the light blue bowl with darkened rim.",
+    "Place the small smooth brown-rimmed bowl onto the small smooth brown-rimmed bowl to form a stack.",
+    "Place the smooth bowl with glossy finish carefully over the smooth bowl with glossy finish to stack them.",
+    "Stack the light blue bowl with darkened rim on top of the small smooth brown-rimmed bowl.",
+    "Take the smooth bowl with glossy finish, set it down, and stack the smooth bowl with glossy finish on top.",
+    "Pick up the small smooth brown-rimmed bowl and stack the small smooth brown-rimmed bowl above.",
+    "Grab the smooth bowl with glossy finish, then set the small smooth brown-rimmed bowl on top.",
+    "Place the light blue bowl with darkened rim down, then put the small smooth brown-rimmed bowl on top."
+  ]
+}
\ No newline at end of file
diff --git a/train300/stack_bowls_two/jaco2-7dof_clean_300/scene_info.json b/train300/stack_bowls_two/jaco2-7dof_clean_300/scene_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7079232656b7c83163b2998d0d1eae8ca7d3d90
--- /dev/null
+++ b/train300/stack_bowls_two/jaco2-7dof_clean_300/scene_info.json
@@ -0,0 +1,3902 @@
+{
+    "episode_0": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "right"
+        }
+    },
+    "episode_1": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_2": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_3": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_4": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "left"
+        }
+    },
+    "episode_5": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_6": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_7": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "left"
+        }
+    },
+    "episode_8": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_9": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_10": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "right"
+        }
+    },
+    "episode_11": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "left"
+        }
+    },
+    "episode_12": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_13": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_14": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "right",
+            "{b}": "left"
+        }
+    },
+    "episode_15": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
+            "{B}": "002_bowl/base3",
+            "{a}": "left",
+            "{b}": "right"
+        }
+    },
+    "episode_16": {
+        "cluttered_table_info": [],
+        "texture_info": {
+            "wall_texture": null,
+            "table_texture": null
+        },
+        "info": {
+            "{A}": "002_bowl/base3",
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