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piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001000.json

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+{
+  "seen": [
+    "Pick up the medium-sized hamburg and the French fries in red packaging, then put them on the rectangular green tray",
+    "Take the brownish round hamburg and the French fries in red packaging, place them onto the dark green rectangular plastic tray.",
+    "With dual arms, move the bread bun hamburg and the Golden fries crispy red package container onto the single-piece dark green tray.",
+    "Grab the round, soft bread hamburg and the Rectangular red carton holding fries, then put them on the tray with rounded corners.",
+    "Pick up the hamburg with patterned brown surface, grab the Open-top red box filled with fries, place them on the medium plastic tray",
+    "Grab the soft brown bread hamburg and the French fries in red packaging and position them on the tray for holding objects.",
+    "Use dual arms to place the medium-sized hamburg and the Palm-sized red fries container onto the tray for serving items",
+    "Set the hamburg with patterned brown surface and the Open-top red box filled with fries on the rectangular green tray using two arms.",
+    "Using dual arms, lift the smooth hamburg and the French fries in red packaging and drop them on the single-piece dark green tray.",
+    "Move the medium-sized hamburg and the Palm-sized red fries container to the flat green rectangular tray with both arms",
+    "Lift the hamburg with white patches and the Small red box fries inside, placing them neatly on the flat green rectangular tray.",
+    "Using both arms, grab the bread bun hamburg and the Handheld fries pack bright red color for the smooth texture green tray.",
+    "Using both arms, pick the smooth hamburg and the Light yellow fries in red holder and drop them on the solid green palm-sized tray.",
+    "Move the hamburg with white patches and the Potato fries packaged in red carton with dual arms to the dark green rectangular plastic tray.",
+    "Place the medium, squishy hamburg and the Potato fries packaged in red carton onto the tray for holding objects using dual arms",
+    "Use dual arms to grab the hamburg with patterned brown surface and the Small red box fries inside and set them on the tray for holding objects.",
+    "Use both arms to move the medium, squishy hamburg and the Small red box fries inside to the tray for holding objects.",
+    "Position the smooth hamburg and the Light yellow fries in red holder on the dark green serving tray with both arms.",
+    "Pick the hamburg with patterned brown surface, the Bright red box with fries inside, and place them on the solid green palm-sized tray using both arms.",
+    "Use both arms to transfer the round hamburg and the Open-top red box filled with fries to the dark green rectangular plastic tray.",
+    "Use dual arms to move the bread bun hamburg and the Bright red box with fries inside onto the dark green rectangular plastic tray",
+    "Lift the light brown hamburg and the Handheld fries pack bright red color and position them on the plastic tray with curved edges.",
+    "Place the hamburg with patterned brown surface and the Open-top red box filled with fries onto the medium plastic tray after picking them up.",
+    "Grab the brownish round hamburg, pick the Small red box fries inside, then set them on the dark green rectangular plastic tray",
+    "With two arms, pick the hamburg with patterned brown surface and the Bright red box with fries inside for the medium plastic tray.",
+    "Place the light brown hamburg and the Potato fries packaged in red carton on the dark green rectangular plastic tray after picking them up.",
+    "Take the bread bun hamburg and the Light yellow fries in red holder to the flat green rectangular tray and set them there.",
+    "Lift the hamburg with white patches, lift the Red fries box, then set both on the plastic tray with curved edges.",
+    "Put the medium-sized hamburg and the French fries in red packaging on the solid green palm-sized tray using both arms",
+    "Take the medium, squishy hamburg and the Rectangular red carton holding fries with both arms and set on the tray with rounded corners.",
+    "Place both the round, soft bread hamburg and the Bright red box with fries inside on the plastic tray with curved edges after grabbing them with both arms.",
+    "Take the smooth hamburg, take the Potato fries packaged in red carton, and place them onto the dark green rectangular plastic tray.",
+    "Lift the round hamburg and the Potato fries packaged in red carton, position them on the plastic tray with curved edges",
+    "Grab the hamburg with patterned brown surface and the Potato fries packaged in red carton, use both arms to set on the rectangular green tray.",
+    "Move the round hamburg and the Open-top red box filled with fries onto the solid green palm-sized tray with both arms.",
+    "Transfer the round, soft bread hamburg and the Potato fries packaged in red carton to the solid green palm-sized tray with both arms",
+    "Using both arms, set the hamburg with patterned brown surface and the Golden fries crispy red package container onto the tray with rounded corners.",
+    "Grab the brownish round hamburg, then the Light yellow fries in red holder, and set them on the plastic tray with curved edges.",
+    "Pick up the soft brown bread hamburg and the Golden fries crispy red package container one by one and place on the dark green rectangular plastic tray.",
+    "Pick the medium, squishy hamburg and the Small red box fries inside, and set them on the tray for holding objects.",
+    "Pick up the bread bun hamburg, then the Potato fries packaged in red carton, and place them onto the tray for holding objects.",
+    "Using dual arms, move the hamburg with white patches and the Golden fries sticks in red carton onto the tray with rounded corners.",
+    "Grab the medium, squishy hamburg, grab the Rectangular red carton holding fries, and set both onto the solid green palm-sized tray.",
+    "Pick up the light brown hamburg and the Golden fries crispy red package container, then put both on the tray for holding objects.",
+    "Move the round, soft bread hamburg and the Small red box fries inside to the smooth texture green tray using both arms.",
+    "Pick the light brown hamburg, then the Potato fries packaged in red carton, and place them on the tray for holding objects.",
+    "Grab the round hamburg with one arm and the Open-top red box filled with fries with the other for the tray for holding objects.",
+    "Place the round, soft bread hamburg and the Bright red box with fries inside together onto the tray for serving items.",
+    "Set the brownish round hamburg and the Red fries box down on the tray with rounded corners after picking them.",
+    "Use both arms to move the hamburg with white patches and the Potato fries packaged in red carton to the medium plastic tray.",
+    "Pick up the round, soft bread hamburg and the Light yellow fries in red holder, then put them on the rectangular green tray",
+    "Take the brownish round hamburg and the Open-top red box filled with fries, place them onto the tray for holding objects.",
+    "With dual arms, move the medium, squishy hamburg and the French fries in red packaging onto the tray with rounded corners.",
+    "Grab the hamburg with white patches and the Palm-sized red fries container, then put them on the tray with rounded corners.",
+    "Pick up the brownish round hamburg, grab the Palm-sized red fries container, place them on the tray for holding objects",
+    "Grab the brownish round hamburg and the Golden fries sticks in red carton and position them on the flat green rectangular tray.",
+    "Use dual arms to place the round, soft bread hamburg and the Red fries box onto the smooth texture green tray",
+    "Set the medium, squishy hamburg and the Handheld fries pack bright red color on the smooth texture green tray using two arms.",
+    "Using dual arms, lift the light brown hamburg and the Red fries box and drop them on the tray for serving items.",
+    "Move the round hamburg and the Golden fries sticks in red carton to the smooth texture green tray with both arms",
+    "Lift the brownish round hamburg and the Small red box fries inside, placing them neatly on the tray with rounded corners.",
+    "Using both arms, grab the light brown hamburg and the Palm-sized red fries container for the smooth texture green tray.",
+    "Using both arms, pick the bread bun hamburg and the Rectangular red carton holding fries and drop them on the plastic tray with curved edges.",
+    "Move the brownish round hamburg and the Open-top red box filled with fries with dual arms to the single-piece dark green tray.",
+    "Place the light brown hamburg and the Rectangular red carton holding fries onto the flat green rectangular tray using dual arms",
+    "Use dual arms to grab the round, soft bread hamburg and the Rectangular red carton holding fries and set them on the medium plastic tray.",
+    "Use both arms to move the round hamburg and the Potato fries packaged in red carton to the dark green rectangular plastic tray.",
+    "Position the round hamburg and the Rectangular red carton holding fries on the medium plastic tray with both arms.",
+    "Pick the round, soft bread hamburg, the Golden fries sticks in red carton, and place them on the tray with rounded corners using both arms.",
+    "Use both arms to transfer the hamburg with patterned brown surface and the Handheld fries pack bright red color to the tray with rounded corners.",
+    "Use dual arms to move the bread bun hamburg and the Light yellow fries in red holder onto the flat green rectangular tray",
+    "Lift the hamburg with patterned brown surface and the Potato fries packaged in red carton and position them on the flat green rectangular tray.",
+    "Place the smooth hamburg and the Rectangular red carton holding fries onto the smooth texture green tray after picking them up.",
+    "Grab the hamburg with patterned brown surface, pick the Palm-sized red fries container, then set them on the tray for holding objects",
+    "With two arms, pick the medium, squishy hamburg and the Open-top red box filled with fries for the plastic tray with curved edges.",
+    "Place the round, soft bread hamburg and the Golden fries crispy red package container on the smooth texture green tray after picking them up.",
+    "Take the hamburg with white patches and the Bright red box with fries inside to the rectangular green tray and set them there.",
+    "Lift the smooth hamburg, lift the Golden fries sticks in red carton, then set both on the medium plastic tray.",
+    "Put the round hamburg and the Golden fries crispy red package container on the dark green rectangular plastic tray using both arms",
+    "Take the round, soft bread hamburg and the Palm-sized red fries container with both arms and set on the plastic tray with curved edges.",
+    "Place both the medium-sized hamburg and the Red fries box on the tray with rounded corners after grabbing them with both arms.",
+    "Take the medium, squishy hamburg, take the Golden fries crispy red package container, and place them onto the medium plastic tray.",
+    "Lift the hamburg with patterned brown surface and the Golden fries sticks in red carton, position them on the medium plastic tray",
+    "Grab the bread bun hamburg and the French fries in red packaging, use both arms to set on the dark green rectangular plastic tray.",
+    "Move the round, soft bread hamburg and the Bright red box with fries inside onto the flat green rectangular tray with both arms.",
+    "Transfer the bread bun hamburg and the Open-top red box filled with fries to the medium plastic tray with both arms",
+    "Using both arms, set the smooth hamburg and the Bright red box with fries inside onto the medium plastic tray.",
+    "Grab the smooth hamburg, then the Open-top red box filled with fries, and set them on the tray for holding objects.",
+    "Pick up the soft brown bread hamburg and the Potato fries packaged in red carton one by one and place on the dark green rectangular plastic tray.",
+    "Pick the medium-sized hamburg and the Red fries box, and set them on the tray for serving items.",
+    "Pick up the bread bun hamburg, then the Red fries box, and place them onto the rectangular green tray.",
+    "Using dual arms, move the medium, squishy hamburg and the Potato fries packaged in red carton onto the single-piece dark green tray.",
+    "Grab the hamburg with uneven top, grab the French fries in red packaging, and set both onto the plastic tray with curved edges.",
+    "Pick up the hamburg with patterned brown surface and the Open-top red box filled with fries, then put both on the rectangular green tray.",
+    "Move the round, soft bread hamburg and the Red fries box to the rectangular green tray using both arms.",
+    "Pick the medium-sized hamburg, then the Golden fries sticks in red carton, and place them on the dark green serving tray.",
+    "Grab the hamburg with white patches with one arm and the Light yellow fries in red holder with the other for the dark green serving tray.",
+    "Place the medium-sized hamburg and the Red fries box together onto the single-piece dark green tray.",
+    "Set the light brown hamburg and the Small red box fries inside down on the plastic tray with curved edges after picking them.",
+    "Use both arms to move the medium-sized hamburg and the Handheld fries pack bright red color to the tray with rounded corners."
+  ],
+  "unseen": [
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the smooth green tray.",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the green tray",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Place the hamburg with white sides and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the green tray.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the green tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden, then set them on the green tray",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Place the hamburg with white sides and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the green tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the smooth green tray.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the smooth green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the smooth green tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the green tray",
+    "Use both arms to place the hamburg with white sides and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the green tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box, then place on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the green tray.",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the green tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the green tray.",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Crispy potato fries with red box and set them on the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001001.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to move the bread bun hamburg and the red container with yellow fries to the brown tray.",
+    "Grab the hamburg with uneven top and the rectangular red fries packet, then put them on the brown tray with rim.",
+    "Set the medium-sized hamburg and the McDonald's fries bag down on the rectangular plastic tray after picking them.",
+    "Take the round hamburg and the rectangular red fries packet with both arms and set on the medium-sized dark brown tray.",
+    "Move the soft brown bread hamburg and the McDonald's fries bag onto the rectangular tray with both arms.",
+    "Place the medium-sized hamburg and the crispy fries in hand-sized pouch onto the medium dark brown tray using dual arms",
+    "Pick the bread bun hamburg, the thin crispy potato fries, and place them on the smooth plastic tray using both arms.",
+    "Grab the medium-sized hamburg, then the thin crispy potato fries, and set them on the flat brown tray with raised edges.",
+    "Grab the hamburg with uneven top, grab the thin crispy potato fries, and set both onto the rectangular plastic tray.",
+    "Pick up the medium-sized hamburg and the golden fries in smooth red pouch, then put both on the medium-sized dark brown tray.",
+    "Using dual arms, move the medium-sized hamburg and the McDonald's logo on red fries box onto the flat tray with smooth surface.",
+    "Using dual arms, lift the soft brown bread hamburg and the McDonald's fries bag and drop them on the brown tray.",
+    "Use dual arms to place the hamburg with uneven top and the red fries packet onto the medium dark brown tray",
+    "Pick up the light brown hamburg and the McDonald's logo on red fries box, then put them on the brown tray",
+    "Set the medium-sized hamburg and the golden fries in smooth red pouch on the medium-sized dark brown tray using two arms.",
+    "Grab the hamburg with white patches and the thin crispy potato fries and position them on the medium dark brown tray.",
+    "Position the hamburg with patterned brown surface and the golden fries in smooth red pouch on the brown tray with rim with both arms.",
+    "Take the medium, squishy hamburg and the thin crispy potato fries to the medium-sized dark brown tray and set them there.",
+    "Use both arms to transfer the medium-sized hamburg and the McDonald's logo on red fries box to the rectangular tray.",
+    "Pick up the light brown hamburg and the golden fries in smooth red pouch one by one and place on the flat brown tray with raised edges.",
+    "Use dual arms to grab the soft brown bread hamburg and the McDonald's logo on red fries box and set them on the tray for holding things.",
+    "Move the light brown hamburg and the McDonald's fries bag with dual arms to the rectangular plastic tray.",
+    "Grab the round hamburg, pick the red box with golden sticks, then set them on the flat tray with smooth surface",
+    "Transfer the hamburg with uneven top and the golden fries in smooth red pouch to the brown tray with both arms",
+    "Lift the brownish round hamburg and the red box with golden sticks, position them on the tray for holding things",
+    "Grab the medium, squishy hamburg and the golden fries in red packaging, use both arms to set on the medium-sized dark brown tray.",
+    "Place the light brown hamburg and the McDonald's fries bag together onto the tray for holding things.",
+    "Move the soft brown bread hamburg and the golden fries in smooth red pouch to the brown tray with both arms",
+    "Pick up the brownish round hamburg, grab the small red fries packet, place them on the medium dark brown tray",
+    "Use both arms to move the medium, squishy hamburg and the bright red fries holder to the brown tray.",
+    "With dual arms, move the medium-sized hamburg and the rectangular red fries packet onto the dark rectangular serving tray.",
+    "Place both the smooth hamburg and the small red fries packet on the flat tray with smooth surface after grabbing them with both arms.",
+    "Move the smooth hamburg and the red container with yellow fries to the brown tray using both arms.",
+    "Using both arms, set the hamburg with uneven top and the crispy fries in hand-sized pouch onto the tray with slightly raised edges.",
+    "Place the hamburg with white patches and the red container with yellow fries on the rectangular tray after picking them up.",
+    "Put the hamburg with patterned brown surface and the golden fries in red packaging on the tray for holding things using both arms",
+    "With two arms, pick the hamburg with patterned brown surface and the golden fries in red packaging for the flat brown tray with raised edges.",
+    "Take the hamburg with uneven top and the bright red fries holder, place them onto the medium dark brown tray.",
+    "Using both arms, pick the hamburg with patterned brown surface and the rectangular red fries packet and drop them on the flat brown tray with raised edges.",
+    "Lift the hamburg with patterned brown surface, lift the rectangular red fries packet, then set both on the brown tray.",
+    "Pick up the medium-sized hamburg, then the red fries packet, and place them onto the medium dark brown tray.",
+    "Take the round hamburg, take the red container with yellow fries, and place them onto the medium-sized dark brown tray.",
+    "Grab the soft brown bread hamburg with one arm and the red container with yellow fries with the other for the tray with slightly raised edges.",
+    "Place the smooth hamburg and the golden fries in smooth red pouch onto the rectangular plastic tray after picking them up.",
+    "Use dual arms to move the soft brown bread hamburg and the McDonald's fries bag onto the flat tray with smooth surface",
+    "Lift the medium-sized hamburg and the McDonald's fries bag and position them on the flat tray with smooth surface.",
+    "Lift the round hamburg and the crispy fries in hand-sized pouch, placing them neatly on the medium-sized dark brown tray.",
+    "Pick the hamburg with white patches and the golden fries in smooth red pouch, and set them on the medium dark brown tray.",
+    "Using both arms, grab the bread bun hamburg and the small red fries packet for the medium dark brown tray.",
+    "Pick the hamburg with white patches, then the thin crispy potato fries, and place them on the flat tray with smooth surface.",
+    "Use both arms to move the brownish round hamburg and the McDonald's logo on red fries box to the rectangular plastic tray.",
+    "Grab the round hamburg and the golden fries in smooth red pouch, then put them on the tray for holding things.",
+    "Set the hamburg with uneven top and the red fries packet down on the medium-sized dark brown tray after picking them.",
+    "Take the hamburg with uneven top and the golden fries in red packaging with both arms and set on the flat tray with smooth surface.",
+    "Move the brownish round hamburg and the small red fries packet onto the medium dark brown tray with both arms.",
+    "Place the round hamburg and the golden fries in smooth red pouch onto the brown tray with rim using dual arms",
+    "Pick the round, soft bread hamburg, the red fries packet, and place them on the dark rectangular serving tray using both arms.",
+    "Grab the round, soft bread hamburg, then the bright red fries holder, and set them on the tray with slightly raised edges.",
+    "Grab the hamburg with uneven top, grab the rectangular red fries packet, and set both onto the tray for holding things.",
+    "Pick up the medium-sized hamburg and the McDonald's fries bag, then put both on the dark rectangular serving tray.",
+    "Using dual arms, move the medium, squishy hamburg and the red container with yellow fries onto the smooth plastic tray.",
+    "Using dual arms, lift the light brown hamburg and the crispy fries in hand-sized pouch and drop them on the rectangular tray.",
+    "Use dual arms to place the soft brown bread hamburg and the rectangular red fries packet onto the brown tray",
+    "Pick up the bread bun hamburg and the rectangular red fries packet, then put them on the medium dark brown tray",
+    "Set the round, soft bread hamburg and the red fries packet on the brown tray with rim using two arms.",
+    "Grab the light brown hamburg and the small red fries packet and position them on the tray with slightly raised edges.",
+    "Position the round, soft bread hamburg and the red box with golden sticks on the tray with slightly raised edges with both arms.",
+    "Take the soft brown bread hamburg and the thin crispy potato fries to the flat brown tray with raised edges and set them there.",
+    "Use both arms to transfer the soft brown bread hamburg and the golden fries in red packaging to the rectangular plastic tray.",
+    "Pick up the bread bun hamburg and the crispy fries in hand-sized pouch one by one and place on the brown tray with rim.",
+    "Use dual arms to grab the round hamburg and the McDonald's logo on red fries box and set them on the smooth plastic tray.",
+    "Move the round, soft bread hamburg and the golden fries in smooth red pouch with dual arms to the rectangular plastic tray.",
+    "Grab the smooth hamburg, pick the crispy fries in hand-sized pouch, then set them on the tray with slightly raised edges",
+    "Transfer the smooth hamburg and the golden fries in red packaging to the rectangular tray with both arms",
+    "Lift the bread bun hamburg and the McDonald's logo on red fries box, position them on the brown tray with rim",
+    "Grab the hamburg with patterned brown surface and the red container with yellow fries, use both arms to set on the flat tray with smooth surface.",
+    "Place the brownish round hamburg and the McDonald's logo on red fries box together onto the brown tray with rim.",
+    "Move the hamburg with white patches and the thin crispy potato fries to the tray with slightly raised edges with both arms",
+    "Pick up the medium-sized hamburg, grab the crispy fries in hand-sized pouch, place them on the smooth plastic tray",
+    "Use both arms to move the bread bun hamburg and the thin crispy potato fries to the brown tray.",
+    "With dual arms, move the round hamburg and the golden fries in smooth red pouch onto the tray with slightly raised edges.",
+    "Place both the bread bun hamburg and the small red fries packet on the smooth plastic tray after grabbing them with both arms.",
+    "Move the smooth hamburg and the rectangular red fries packet to the tray for holding things using both arms.",
+    "Using both arms, set the smooth hamburg and the red box with golden sticks onto the brown tray.",
+    "Place the light brown hamburg and the McDonald's logo on red fries box on the smooth plastic tray after picking them up.",
+    "Put the hamburg with uneven top and the rectangular red fries packet on the flat tray with smooth surface using both arms",
+    "With two arms, pick the round, soft bread hamburg and the rectangular red fries packet for the flat brown tray with raised edges.",
+    "Take the hamburg with uneven top and the golden fries in red packaging, place them onto the brown tray with rim.",
+    "Using both arms, pick the hamburg with uneven top and the red box with golden sticks and drop them on the rectangular tray.",
+    "Lift the medium, squishy hamburg, lift the red container with yellow fries, then set both on the rectangular plastic tray.",
+    "Pick up the medium, squishy hamburg, then the McDonald's fries bag, and place them onto the smooth plastic tray.",
+    "Take the round, soft bread hamburg, take the rectangular red fries packet, and place them onto the brown tray.",
+    "Grab the medium, squishy hamburg with one arm and the McDonald's logo on red fries box with the other for the rectangular tray.",
+    "Place the hamburg with patterned brown surface and the small red fries packet onto the dark rectangular serving tray after picking them up.",
+    "Use dual arms to move the bread bun hamburg and the thin crispy potato fries onto the smooth plastic tray",
+    "Lift the round, soft bread hamburg and the thin crispy potato fries and position them on the tray with slightly raised edges.",
+    "Lift the soft brown bread hamburg and the red fries packet, placing them neatly on the brown tray with rim.",
+    "Pick the hamburg with white patches and the McDonald's logo on red fries box, and set them on the dark rectangular serving tray.",
+    "Using both arms, grab the soft brown bread hamburg and the red container with yellow fries for the brown tray.",
+    "Pick the bread bun hamburg, then the crispy fries in hand-sized pouch, and place them on the dark rectangular serving tray."
+  ],
+  "unseen": [
+    "Use both arms to grab the hamburg with white sides and the golden fries in red holder and set them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the golden fries in red holder, then place them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the hand-sized fries container and place them on the medium flat tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container, then place on the tray for carrying items.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the hand-sized fries container and set them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick the hamburg with white sides and the hand-sized fries container, place them on the tray for carrying items.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Use both arms to place the palm-sized hamburg and the golden fries in red holder on the medium flat tray.",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the flat brown serving tray.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the medium flat tray.",
+    "Use both arms to grab the hamburg with light brown top and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the palm-sized hamburg and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Grab the hamburg with white sides and the hand-sized fries container, then set them on the tray for carrying items",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white sides and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Place the hamburg with white sides and the golden fries in red holder onto the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the hand-sized fries container together, then drop on the medium flat tray",
+    "Pick the hamburg with light brown top and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick the hamburg with white sides and the hand-sized fries container, place them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the golden fries in red holder, then place on the tray for carrying items.",
+    "Place the hamburg with light brown top and the golden crispy fries inside red box onto the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Grab the palm-sized hamburg and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white sides and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the flat brown serving tray.",
+    "Use both arms to grab the hamburg with light brown top and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Pick the hamburg with light brown top and the golden fries in red holder, then place them on the medium flat tray.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick the hamburg with white sides and the hand-sized fries container, place them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the golden fries in red holder, then place on the medium flat tray.",
+    "Place the hamburg with light brown top and the golden fries in red holder onto the flat brown serving tray.",
+    "Use both arms to grab the hamburg with light brown top and the hand-sized fries container and set them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to place the palm-sized hamburg and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden fries in red holder and set them on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container together, then drop on the medium flat tray",
+    "Pick the hamburg with light brown top and the golden fries in red holder, then place them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to place the palm-sized hamburg and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden fries in red holder and set them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the hamburg with light brown top and the golden fries in red holder, then place them on the medium flat tray.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Pick the hamburg with white sides and the golden fries in red holder, place them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to place the hamburg with white sides and the golden fries in red holder on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the golden fries in red holder, then place on the medium flat tray.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Pick the palm-sized hamburg and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the tray for carrying items.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container and place them on the medium flat tray.",
+    "Use both arms to place the hamburg with light brown top and the golden fries in red holder on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Place the hamburg with white sides and the golden crispy fries inside red box onto the medium flat tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001006.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the small rounded hamburg and the Palm-sized red fries container, place them onto the brown tray.",
+    "Pick up the white part with orange edges hamburg, then the Palm-sized red fries container, and place them onto the rectangular tray.",
+    "Use dual arms to grab the irregular shaped hamburg and the Potato fries packaged in red carton and set them on the smooth plastic tray.",
+    "Grab the orange hamburg and the Handheld fries pack bright red color, use both arms to set on the medium dark brown tray.",
+    "Place the orange hamburg with white underside and the Potato fries packaged in red carton on the dark rectangular serving tray after picking them up.",
+    "Use both arms to move the white part with orange edges hamburg and the Rectangular red carton holding fries to the flat brown tray with raised edges.",
+    "Grab the orange hamburg with white underside, grab the Small red box fries inside, and set both onto the medium-sized dark brown tray.",
+    "Pick the rounded hamburg with painted details and the Rectangular red carton holding fries, and set them on the rectangular plastic tray.",
+    "Grab the white part with orange edges hamburg, then the Small red box fries inside, and set them on the flat tray with smooth surface.",
+    "Pick up the yellow marked white and orange hamburg and the Golden fries sticks in red carton, then put them on the tray with slightly raised edges",
+    "Set the decorative rounded hamburg and the Golden fries sticks in red carton on the flat brown tray with raised edges using two arms.",
+    "Grab the white part with orange edges hamburg and the Rectangular red carton holding fries, then put them on the flat brown tray with raised edges.",
+    "Move the smooth orange and white hamburg and the French fries in red packaging to the rectangular tray with both arms",
+    "Pick up the orange hamburg, grab the Red fries box, place them on the brown tray",
+    "Pick the smooth orange and white hamburg, then the Rectangular red carton holding fries, and place them on the smooth plastic tray.",
+    "Grab the irregular shaped hamburg with one arm and the Bright red box with fries inside with the other for the medium-sized dark brown tray.",
+    "Position the orange hamburg with white underside and the Small red box fries inside on the flat tray with smooth surface with both arms.",
+    "Using dual arms, move the rounded hamburg with painted details and the Light yellow fries in red holder onto the tray with slightly raised edges.",
+    "Using dual arms, lift the white part with orange edges hamburg and the Red fries box and drop them on the rectangular tray.",
+    "Place the smooth orange and white hamburg and the Bright red box with fries inside onto the medium-sized dark brown tray after picking them up.",
+    "With dual arms, move the decorative rounded hamburg and the Small red box fries inside onto the flat brown tray with raised edges.",
+    "Take the decorative rounded hamburg and the Red fries box with both arms and set on the brown tray.",
+    "Use dual arms to place the rounded hamburg with painted details and the Bright red box with fries inside onto the brown tray",
+    "Pick the hand-sized orange hamburg, the Golden fries sticks in red carton, and place them on the tray with slightly raised edges using both arms.",
+    "Place the irregular shaped hamburg and the Red fries box onto the dark rectangular serving tray using dual arms",
+    "Use both arms to move the rounded hamburg with painted details and the French fries in red packaging to the smooth plastic tray.",
+    "Move the yellow marked white and orange hamburg and the Small red box fries inside to the tray with slightly raised edges using both arms.",
+    "Move the orange hamburg and the Light yellow fries in red holder with dual arms to the brown tray with rim.",
+    "Place both the smooth orange and white hamburg and the Red fries box on the medium dark brown tray after grabbing them with both arms.",
+    "Put the hamburg with yellow mark and the Golden fries crispy red package container on the brown tray with rim using both arms",
+    "Pick up the white part with orange edges hamburg and the Light yellow fries in red holder one by one and place on the rectangular tray.",
+    "Lift the irregular shaped hamburg, lift the Golden fries sticks in red carton, then set both on the smooth plastic tray.",
+    "Lift the decorative rounded hamburg and the Bright red box with fries inside, position them on the brown tray",
+    "Using both arms, pick the smooth orange and white hamburg and the Open-top red box filled with fries and drop them on the rectangular tray.",
+    "Grab the white part with orange edges hamburg and the Handheld fries pack bright red color and position them on the dark rectangular serving tray.",
+    "Lift the orange-white hamburg with yellow highlight and the Bright red box with fries inside and position them on the medium dark brown tray.",
+    "Transfer the yellow marked white and orange hamburg and the Potato fries packaged in red carton to the brown tray with rim with both arms",
+    "Move the small rounded hamburg and the Handheld fries pack bright red color onto the medium dark brown tray with both arms.",
+    "Set the small rounded hamburg and the French fries in red packaging down on the tray for holding things after picking them.",
+    "With two arms, pick the white part with orange edges hamburg and the Handheld fries pack bright red color for the tray with slightly raised edges.",
+    "Pick up the irregular shaped hamburg and the Open-top red box filled with fries, then put both on the brown tray with rim.",
+    "Take the orange hamburg, take the French fries in red packaging, and place them onto the flat tray with smooth surface.",
+    "Lift the decorative rounded hamburg and the Golden fries sticks in red carton, placing them neatly on the brown tray.",
+    "Use both arms to transfer the rounded hamburg with painted details and the Open-top red box filled with fries to the rectangular tray.",
+    "Using both arms, set the smooth orange and white hamburg and the Open-top red box filled with fries onto the tray for holding things.",
+    "Use dual arms to move the orange hamburg and the Golden fries crispy red package container onto the tray with slightly raised edges",
+    "Take the small rounded hamburg and the French fries in red packaging to the tray for holding things and set them there.",
+    "Place the yellow marked white and orange hamburg and the Small red box fries inside together onto the dark rectangular serving tray.",
+    "Using both arms, grab the hand-sized orange hamburg and the Palm-sized red fries container for the smooth plastic tray.",
+    "Grab the orange hamburg with white underside, pick the Golden fries crispy red package container, then set them on the medium dark brown tray",
+    "Take the hand-sized orange hamburg and the Red fries box, place them onto the medium-sized dark brown tray.",
+    "Pick up the hamburg with yellow mark, then the French fries in red packaging, and place them onto the flat tray with smooth surface.",
+    "Use dual arms to grab the rounded hamburg with painted details and the French fries in red packaging and set them on the flat tray with smooth surface.",
+    "Grab the hamburg with yellow mark and the Small red box fries inside, use both arms to set on the tray for holding things.",
+    "Place the smooth orange and white hamburg and the Potato fries packaged in red carton on the rectangular tray after picking them up.",
+    "Use both arms to move the hand-sized orange hamburg and the Bright red box with fries inside to the rectangular plastic tray.",
+    "Grab the orange-white hamburg with yellow highlight, grab the Open-top red box filled with fries, and set both onto the smooth plastic tray.",
+    "Pick the hamburg with yellow mark and the Palm-sized red fries container, and set them on the brown tray with rim.",
+    "Grab the smooth orange and white hamburg, then the Light yellow fries in red holder, and set them on the tray for holding things.",
+    "Pick up the decorative rounded hamburg and the Small red box fries inside, then put them on the rectangular tray",
+    "Set the orange hamburg and the Palm-sized red fries container on the rectangular plastic tray using two arms.",
+    "Grab the yellow marked white and orange hamburg and the Palm-sized red fries container, then put them on the flat brown tray with raised edges.",
+    "Move the smooth orange and white hamburg and the Palm-sized red fries container to the tray with slightly raised edges with both arms",
+    "Pick up the hamburg with yellow mark, grab the Palm-sized red fries container, place them on the medium-sized dark brown tray",
+    "Pick the yellow marked white and orange hamburg, then the Golden fries crispy red package container, and place them on the flat brown tray with raised edges.",
+    "Grab the hamburg with yellow mark with one arm and the Palm-sized red fries container with the other for the tray for holding things.",
+    "Position the decorative rounded hamburg and the Palm-sized red fries container on the tray for holding things with both arms.",
+    "Using dual arms, move the decorative rounded hamburg and the Golden fries sticks in red carton onto the flat brown tray with raised edges.",
+    "Using dual arms, lift the hand-sized orange hamburg and the Bright red box with fries inside and drop them on the brown tray.",
+    "Place the hand-sized orange hamburg and the Golden fries crispy red package container onto the flat tray with smooth surface after picking them up.",
+    "With dual arms, move the orange hamburg with white underside and the Red fries box onto the smooth plastic tray.",
+    "Take the irregular shaped hamburg and the Handheld fries pack bright red color with both arms and set on the rectangular tray.",
+    "Use dual arms to place the hand-sized orange hamburg and the Handheld fries pack bright red color onto the flat tray with smooth surface",
+    "Pick the orange-white hamburg with yellow highlight, the French fries in red packaging, and place them on the flat tray with smooth surface using both arms.",
+    "Place the irregular shaped hamburg and the Handheld fries pack bright red color onto the tray with slightly raised edges using dual arms",
+    "Use both arms to move the smooth orange and white hamburg and the Palm-sized red fries container to the smooth plastic tray.",
+    "Move the smooth orange and white hamburg and the Small red box fries inside to the medium-sized dark brown tray using both arms.",
+    "Move the irregular shaped hamburg and the Palm-sized red fries container with dual arms to the rectangular plastic tray.",
+    "Place both the yellow marked white and orange hamburg and the French fries in red packaging on the medium-sized dark brown tray after grabbing them with both arms.",
+    "Put the orange-white hamburg with yellow highlight and the Potato fries packaged in red carton on the flat brown tray with raised edges using both arms",
+    "Pick up the orange hamburg with white underside and the Potato fries packaged in red carton one by one and place on the medium-sized dark brown tray.",
+    "Lift the irregular shaped hamburg, lift the Golden fries sticks in red carton, then set both on the medium dark brown tray.",
+    "Lift the hand-sized orange hamburg and the Small red box fries inside, position them on the medium-sized dark brown tray",
+    "Using both arms, pick the smooth orange and white hamburg and the Small red box fries inside and drop them on the tray for holding things.",
+    "Grab the white part with orange edges hamburg and the Red fries box and position them on the rectangular tray.",
+    "Lift the rounded hamburg with painted details and the Potato fries packaged in red carton and position them on the medium-sized dark brown tray.",
+    "Transfer the irregular shaped hamburg and the Red fries box to the flat brown tray with raised edges with both arms",
+    "Move the yellow marked white and orange hamburg and the Palm-sized red fries container onto the brown tray with both arms.",
+    "Set the yellow marked white and orange hamburg and the Open-top red box filled with fries down on the brown tray after picking them.",
+    "With two arms, pick the small rounded hamburg and the Palm-sized red fries container for the flat tray with smooth surface.",
+    "Pick up the hamburg with yellow mark and the Red fries box, then put both on the rectangular tray.",
+    "Take the orange-white hamburg with yellow highlight, take the Open-top red box filled with fries, and place them onto the smooth plastic tray.",
+    "Lift the smooth orange and white hamburg and the Small red box fries inside, placing them neatly on the brown tray with rim.",
+    "Use both arms to transfer the hamburg with yellow mark and the French fries in red packaging to the flat tray with smooth surface.",
+    "Using both arms, set the white part with orange edges hamburg and the Bright red box with fries inside onto the tray with slightly raised edges.",
+    "Use dual arms to move the irregular shaped hamburg and the Golden fries crispy red package container onto the tray with slightly raised edges",
+    "Take the orange hamburg with white underside and the Open-top red box filled with fries to the brown tray with rim and set them there.",
+    "Place the irregular shaped hamburg and the French fries in red packaging together onto the rectangular tray.",
+    "Using both arms, grab the rounded hamburg with painted details and the Open-top red box filled with fries for the dark rectangular serving tray.",
+    "Grab the orange hamburg with white underside, pick the Red fries box, then set them on the dark rectangular serving tray"
+  ],
+  "unseen": [
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Place the hamburg with white and orange and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the tray for carrying items.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with white and orange and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the medium flat tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the medium flat tray.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the medium flat tray.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with curved surfaces and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with curved surfaces and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg with curved surfaces and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001008.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bright yellow hamburg box with logo and the Rectangular red carton holding fries, position them on the rectangular tray",
+    "Take the bright yellow hamburg box with logo and the Potato fries packaged in red carton to the tray for holding things and set them there.",
+    "Grab the yellow hamburg box and the Bright red box with fries inside, use both arms to set on the flat brown tray with raised edges.",
+    "Lift the hamburg box with foldable top and the Red fries box and position them on the tray for holding things.",
+    "With dual arms, move the bright yellow hamburg box with logo and the Rectangular red carton holding fries onto the dark rectangular serving tray.",
+    "Move the bright yellow hamburg box with logo and the French fries in red packaging to the medium dark brown tray using both arms.",
+    "Set the yellow hamburg box and the Golden fries crispy red package container on the rectangular plastic tray using two arms.",
+    "Pick the hamburg box with foldable top, the Golden fries sticks in red carton, and place them on the brown tray with rim using both arms.",
+    "Use both arms to move the yellow hamburg box and the Small red box fries inside to the rectangular tray.",
+    "Use both arms to move the yellow hamburg box and the Light yellow fries in red holder to the rectangular plastic tray.",
+    "Place the bright yellow hamburg box with logo and the Red fries box onto the rectangular plastic tray after picking them up.",
+    "Position the yellow hamburg box and the French fries in red packaging on the dark rectangular serving tray with both arms.",
+    "Use dual arms to place the medium-sized yellow hamburg package and the Red fries box onto the rectangular plastic tray",
+    "Using both arms, set the white and yellow printed hamburg holder and the Bright red box with fries inside onto the dark rectangular serving tray.",
+    "Using dual arms, lift the bright yellow hamburg box with logo and the Palm-sized red fries container and drop them on the rectangular plastic tray.",
+    "Pick up the white lid with yellow bottom hamburg box, grab the Handheld fries pack bright red color, place them on the flat brown tray with raised edges",
+    "Using dual arms, move the yellow hamburg box with white accents and the Potato fries packaged in red carton onto the dark rectangular serving tray.",
+    "Lift the yellow hamburg box, lift the Palm-sized red fries container, then set both on the rectangular plastic tray.",
+    "Grab the rectangular hamburg box, grab the Golden fries sticks in red carton, and set both onto the rectangular tray.",
+    "Pick up the hamburg box with foldable top and the Golden fries crispy red package container one by one and place on the rectangular plastic tray.",
+    "Place both the yellow box for hamburg and the Rectangular red carton holding fries on the medium dark brown tray after grabbing them with both arms.",
+    "Pick up the smooth yellow hamburg packaging, then the Light yellow fries in red holder, and place them onto the brown tray.",
+    "With two arms, pick the yellow hamburg box and the Rectangular red carton holding fries for the flat tray with smooth surface.",
+    "Grab the foldable hamburg cardboard box, pick the Handheld fries pack bright red color, then set them on the smooth plastic tray",
+    "Grab the yellow hamburg box with one arm and the French fries in red packaging with the other for the rectangular plastic tray.",
+    "Grab the yellow hamburg box and the French fries in red packaging and position them on the flat brown tray with raised edges.",
+    "Place the yellow hamburg box and the Golden fries sticks in red carton onto the rectangular tray using dual arms",
+    "Use dual arms to grab the rectangular hamburg box and the Palm-sized red fries container and set them on the brown tray.",
+    "Grab the yellow hamburg box, then the French fries in red packaging, and set them on the flat tray with smooth surface.",
+    "Pick the bright yellow hamburg box with logo and the Potato fries packaged in red carton, and set them on the flat brown tray with raised edges.",
+    "Lift the medium-sized yellow hamburg package and the Handheld fries pack bright red color, placing them neatly on the medium-sized dark brown tray.",
+    "Place the foldable hamburg cardboard box and the Light yellow fries in red holder together onto the tray with slightly raised edges.",
+    "Take the medium-sized yellow hamburg package and the Bright red box with fries inside, place them onto the smooth plastic tray.",
+    "Use both arms to transfer the white lid with yellow bottom hamburg box and the Open-top red box filled with fries to the rectangular plastic tray.",
+    "Set the medium-sized box with hamburg design and the Rectangular red carton holding fries down on the rectangular plastic tray after picking them.",
+    "Using both arms, grab the medium-sized box with hamburg design and the Handheld fries pack bright red color for the dark rectangular serving tray.",
+    "Move the medium-sized yellow hamburg package and the Handheld fries pack bright red color with dual arms to the tray with slightly raised edges.",
+    "Pick up the medium-sized box with hamburg design and the Golden fries crispy red package container, then put them on the brown tray",
+    "Transfer the foldable hamburg cardboard box and the Golden fries sticks in red carton to the rectangular tray with both arms",
+    "Pick the foldable hamburg cardboard box, then the Handheld fries pack bright red color, and place them on the tray for holding things.",
+    "Take the medium-sized yellow hamburg package, take the Rectangular red carton holding fries, and place them onto the brown tray.",
+    "Grab the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton, then put them on the brown tray.",
+    "Take the rectangular hamburg box and the French fries in red packaging with both arms and set on the brown tray with rim.",
+    "Move the yellow box for hamburg and the Palm-sized red fries container onto the tray for holding things with both arms.",
+    "Use dual arms to move the medium-sized yellow hamburg package and the Golden fries crispy red package container onto the brown tray",
+    "Move the white and yellow printed hamburg holder and the Red fries box to the tray for holding things with both arms",
+    "Pick up the hamburg box with foldable top and the French fries in red packaging, then put both on the flat tray with smooth surface.",
+    "Place the hamburg box with foldable top and the French fries in red packaging on the brown tray after picking them up.",
+    "Put the smooth yellow hamburg packaging and the Red fries box on the tray with slightly raised edges using both arms",
+    "Using both arms, pick the white and yellow printed hamburg holder and the Potato fries packaged in red carton and drop them on the tray with slightly raised edges.",
+    "Lift the yellow hamburg box with white accents and the Handheld fries pack bright red color, position them on the tray for holding things",
+    "Take the smooth yellow hamburg packaging and the Golden fries sticks in red carton to the tray for holding things and set them there.",
+    "Grab the white lid with yellow bottom hamburg box and the Handheld fries pack bright red color, use both arms to set on the tray with slightly raised edges.",
+    "Lift the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton and position them on the brown tray.",
+    "With dual arms, move the hamburg box with foldable top and the Rectangular red carton holding fries onto the medium dark brown tray.",
+    "Move the yellow box for hamburg and the Light yellow fries in red holder to the dark rectangular serving tray using both arms.",
+    "Set the medium-sized box with hamburg design and the Red fries box on the rectangular tray using two arms.",
+    "Pick the yellow box for hamburg, the Golden fries crispy red package container, and place them on the smooth plastic tray using both arms.",
+    "Use both arms to move the medium-sized box with hamburg design and the Bright red box with fries inside to the medium dark brown tray.",
+    "Use both arms to move the medium-sized box with hamburg design and the Rectangular red carton holding fries to the flat brown tray with raised edges.",
+    "Place the hamburg box with foldable top and the Handheld fries pack bright red color onto the brown tray with rim after picking them up.",
+    "Position the smooth yellow hamburg packaging and the Open-top red box filled with fries on the brown tray with rim with both arms.",
+    "Use dual arms to place the medium-sized yellow hamburg package and the Red fries box onto the brown tray with rim",
+    "Using both arms, set the medium-sized box with hamburg design and the Red fries box onto the rectangular tray.",
+    "Using dual arms, lift the hamburg box with foldable top and the Rectangular red carton holding fries and drop them on the rectangular tray.",
+    "Pick up the rectangular hamburg box, grab the French fries in red packaging, place them on the dark rectangular serving tray",
+    "Using dual arms, move the smooth yellow hamburg packaging and the French fries in red packaging onto the dark rectangular serving tray.",
+    "Lift the yellow hamburg box with white accents, lift the Potato fries packaged in red carton, then set both on the medium dark brown tray.",
+    "Grab the hamburg box with foldable top, grab the Golden fries crispy red package container, and set both onto the flat brown tray with raised edges.",
+    "Pick up the smooth yellow hamburg packaging and the Rectangular red carton holding fries one by one and place on the medium dark brown tray.",
+    "Place both the hamburg box with foldable top and the Small red box fries inside on the rectangular tray after grabbing them with both arms.",
+    "Pick up the hamburg box with foldable top, then the French fries in red packaging, and place them onto the medium-sized dark brown tray.",
+    "With two arms, pick the foldable hamburg cardboard box and the Handheld fries pack bright red color for the brown tray with rim.",
+    "Grab the white and yellow printed hamburg holder, pick the Golden fries crispy red package container, then set them on the brown tray",
+    "Grab the medium-sized yellow hamburg package with one arm and the Palm-sized red fries container with the other for the medium-sized dark brown tray.",
+    "Grab the medium-sized yellow hamburg package and the Golden fries crispy red package container and position them on the rectangular tray.",
+    "Place the yellow hamburg box with white accents and the Small red box fries inside onto the dark rectangular serving tray using dual arms",
+    "Use dual arms to grab the hamburg box with foldable top and the Open-top red box filled with fries and set them on the tray for holding things.",
+    "Grab the yellow hamburg box, then the Rectangular red carton holding fries, and set them on the medium-sized dark brown tray.",
+    "Pick the yellow hamburg box and the Open-top red box filled with fries, and set them on the medium-sized dark brown tray.",
+    "Lift the yellow hamburg box and the French fries in red packaging, placing them neatly on the brown tray.",
+    "Place the medium-sized yellow hamburg package and the Golden fries crispy red package container together onto the medium dark brown tray.",
+    "Take the rectangular hamburg box and the French fries in red packaging, place them onto the rectangular tray.",
+    "Use both arms to transfer the bright yellow hamburg box with logo and the Red fries box to the medium dark brown tray.",
+    "Set the yellow hamburg box and the Palm-sized red fries container down on the smooth plastic tray after picking them.",
+    "Using both arms, grab the medium-sized yellow hamburg package and the Small red box fries inside for the brown tray.",
+    "Move the medium-sized yellow hamburg package and the Potato fries packaged in red carton with dual arms to the brown tray.",
+    "Pick up the smooth yellow hamburg packaging and the Red fries box, then put them on the smooth plastic tray",
+    "Transfer the white and yellow printed hamburg holder and the Rectangular red carton holding fries to the rectangular tray with both arms",
+    "Pick the medium-sized yellow hamburg package, then the Small red box fries inside, and place them on the medium-sized dark brown tray.",
+    "Take the medium-sized box with hamburg design, take the Rectangular red carton holding fries, and place them onto the medium dark brown tray.",
+    "Grab the hamburg box with foldable top and the Light yellow fries in red holder, then put them on the brown tray.",
+    "Take the medium-sized yellow hamburg package and the Handheld fries pack bright red color with both arms and set on the rectangular tray.",
+    "Move the medium-sized box with hamburg design and the Golden fries sticks in red carton onto the smooth plastic tray with both arms.",
+    "Use dual arms to move the medium-sized yellow hamburg package and the Small red box fries inside onto the brown tray with rim",
+    "Move the yellow hamburg box with white accents and the Open-top red box filled with fries to the rectangular tray with both arms",
+    "Pick up the medium-sized box with hamburg design and the Golden fries crispy red package container, then put both on the brown tray.",
+    "Place the white and yellow printed hamburg holder and the Open-top red box filled with fries on the tray with slightly raised edges after picking them up.",
+    "Put the white and yellow printed hamburg holder and the Light yellow fries in red holder on the rectangular plastic tray using both arms",
+    "Using both arms, pick the bright yellow hamburg box with logo and the Golden fries crispy red package container and drop them on the dark rectangular serving tray."
+  ],
+  "unseen": [
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the tray for carrying items.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg container and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the tray for carrying items",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the medium flat tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the flat brown serving tray",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the medium flat tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the flat brown serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001011.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the hamburg with uneven top and the crispy fries in hand-sized pouch with both arms and set on the flat brown tray with raised edges.",
+    "Place the medium-sized hamburg and the golden fries in red packaging together onto the flat brown tray with raised edges.",
+    "Grab the light brown hamburg and the McDonald's fries bag, then put them on the brown tray.",
+    "Pick the smooth hamburg and the golden fries in smooth red pouch, and set them on the medium dark brown tray.",
+    "With two arms, pick the soft brown bread hamburg and the McDonald's logo on red fries box for the brown tray with rim.",
+    "Move the smooth hamburg and the crispy fries in hand-sized pouch with dual arms to the brown tray.",
+    "Use both arms to move the soft brown bread hamburg and the golden fries in smooth red pouch to the rectangular plastic tray.",
+    "Pick up the hamburg with white patches and the golden fries in red packaging one by one and place on the tray for holding things.",
+    "Pick up the hamburg with white patches and the crispy fries in hand-sized pouch, then put them on the rectangular tray",
+    "Put the brownish round hamburg and the small red fries packet on the smooth plastic tray using both arms",
+    "Move the medium-sized hamburg and the McDonald's fries bag onto the flat brown tray with raised edges with both arms.",
+    "Using dual arms, move the hamburg with uneven top and the small red fries packet onto the tray for holding things.",
+    "Grab the bread bun hamburg, then the red box with golden sticks, and set them on the flat brown tray with raised edges.",
+    "Place the medium-sized hamburg and the golden fries in smooth red pouch onto the smooth plastic tray after picking them up.",
+    "Use dual arms to move the smooth hamburg and the small red fries packet onto the medium dark brown tray",
+    "Place both the medium-sized hamburg and the red box with golden sticks on the smooth plastic tray after grabbing them with both arms.",
+    "Take the hamburg with uneven top, take the golden fries in red packaging, and place them onto the tray with slightly raised edges.",
+    "Using both arms, set the smooth hamburg and the bright red fries holder onto the flat brown tray with raised edges.",
+    "With dual arms, move the brownish round hamburg and the bright red fries holder onto the brown tray.",
+    "Pick the hamburg with patterned brown surface, then the small red fries packet, and place them on the flat brown tray with raised edges.",
+    "Place the bread bun hamburg and the red container with yellow fries on the tray with slightly raised edges after picking them up.",
+    "Move the hamburg with uneven top and the McDonald's fries bag to the rectangular tray using both arms.",
+    "Pick up the bread bun hamburg and the McDonald's logo on red fries box, then put both on the brown tray with rim.",
+    "Using dual arms, lift the medium-sized hamburg and the red container with yellow fries and drop them on the brown tray with rim.",
+    "Using both arms, pick the smooth hamburg and the red fries packet and drop them on the medium dark brown tray.",
+    "Pick up the brownish round hamburg, then the thin crispy potato fries, and place them onto the brown tray with rim.",
+    "Take the bread bun hamburg and the thin crispy potato fries, place them onto the flat tray with smooth surface.",
+    "Pick up the soft brown bread hamburg, grab the red box with golden sticks, place them on the rectangular tray",
+    "Lift the bread bun hamburg and the McDonald's logo on red fries box, placing them neatly on the tray with slightly raised edges.",
+    "Pick the hamburg with uneven top, the golden fries in smooth red pouch, and place them on the medium-sized dark brown tray using both arms.",
+    "Lift the medium, squishy hamburg and the crispy fries in hand-sized pouch and position them on the brown tray with rim.",
+    "Grab the round hamburg and the red container with yellow fries, use both arms to set on the brown tray with rim.",
+    "Grab the hamburg with uneven top with one arm and the red container with yellow fries with the other for the tray with slightly raised edges.",
+    "Lift the brownish round hamburg, lift the bright red fries holder, then set both on the tray with slightly raised edges.",
+    "Use both arms to move the smooth hamburg and the golden fries in smooth red pouch to the flat brown tray with raised edges.",
+    "Take the medium, squishy hamburg and the golden fries in smooth red pouch to the flat brown tray with raised edges and set them there.",
+    "Grab the brownish round hamburg and the golden fries in red packaging and position them on the brown tray with rim.",
+    "Use dual arms to grab the hamburg with uneven top and the McDonald's fries bag and set them on the rectangular tray.",
+    "Grab the bread bun hamburg, pick the bright red fries holder, then set them on the tray with slightly raised edges",
+    "Use dual arms to place the soft brown bread hamburg and the McDonald's logo on red fries box onto the tray with slightly raised edges",
+    "Move the smooth hamburg and the golden fries in smooth red pouch to the medium dark brown tray with both arms",
+    "Use both arms to transfer the hamburg with patterned brown surface and the McDonald's logo on red fries box to the medium dark brown tray.",
+    "Transfer the brownish round hamburg and the crispy fries in hand-sized pouch to the flat tray with smooth surface with both arms",
+    "Place the round hamburg and the McDonald's logo on red fries box onto the medium dark brown tray using dual arms",
+    "Lift the round hamburg and the McDonald's logo on red fries box, position them on the tray for holding things",
+    "Grab the medium, squishy hamburg, grab the rectangular red fries packet, and set both onto the medium-sized dark brown tray.",
+    "Set the round, soft bread hamburg and the thin crispy potato fries on the flat tray with smooth surface using two arms.",
+    "Position the medium, squishy hamburg and the golden fries in smooth red pouch on the smooth plastic tray with both arms.",
+    "Set the smooth hamburg and the crispy fries in hand-sized pouch down on the tray for holding things after picking them.",
+    "Using both arms, grab the brownish round hamburg and the golden fries in red packaging for the smooth plastic tray.",
+    "Take the smooth hamburg and the golden fries in red packaging with both arms and set on the smooth plastic tray.",
+    "Place the soft brown bread hamburg and the rectangular red fries packet together onto the brown tray.",
+    "Grab the smooth hamburg and the red container with yellow fries, then put them on the tray with slightly raised edges.",
+    "Pick the round hamburg and the red fries packet, and set them on the flat tray with smooth surface.",
+    "With two arms, pick the bread bun hamburg and the McDonald's logo on red fries box for the tray for holding things.",
+    "Move the bread bun hamburg and the rectangular red fries packet with dual arms to the medium dark brown tray.",
+    "Use both arms to move the round hamburg and the golden fries in smooth red pouch to the rectangular tray.",
+    "Pick up the soft brown bread hamburg and the golden fries in smooth red pouch one by one and place on the smooth plastic tray.",
+    "Pick up the smooth hamburg and the bright red fries holder, then put them on the dark rectangular serving tray",
+    "Put the bread bun hamburg and the red box with golden sticks on the medium-sized dark brown tray using both arms",
+    "Move the brownish round hamburg and the golden fries in smooth red pouch onto the medium-sized dark brown tray with both arms.",
+    "Using dual arms, move the round hamburg and the bright red fries holder onto the brown tray with rim.",
+    "Grab the soft brown bread hamburg, then the rectangular red fries packet, and set them on the rectangular tray.",
+    "Place the hamburg with uneven top and the McDonald's fries bag onto the brown tray with rim after picking them up.",
+    "Use dual arms to move the medium-sized hamburg and the small red fries packet onto the rectangular tray",
+    "Place both the smooth hamburg and the McDonald's logo on red fries box on the tray for holding things after grabbing them with both arms.",
+    "Take the hamburg with uneven top, take the McDonald's logo on red fries box, and place them onto the medium dark brown tray.",
+    "Using both arms, set the soft brown bread hamburg and the red container with yellow fries onto the tray with slightly raised edges.",
+    "With dual arms, move the light brown hamburg and the McDonald's logo on red fries box onto the flat tray with smooth surface.",
+    "Pick the soft brown bread hamburg, then the thin crispy potato fries, and place them on the rectangular tray.",
+    "Place the round hamburg and the bright red fries holder on the dark rectangular serving tray after picking them up.",
+    "Move the light brown hamburg and the red fries packet to the brown tray with rim using both arms.",
+    "Pick up the brownish round hamburg and the red box with golden sticks, then put both on the smooth plastic tray.",
+    "Using dual arms, lift the hamburg with patterned brown surface and the bright red fries holder and drop them on the brown tray.",
+    "Using both arms, pick the hamburg with uneven top and the McDonald's logo on red fries box and drop them on the rectangular tray.",
+    "Pick up the bread bun hamburg, then the small red fries packet, and place them onto the brown tray.",
+    "Take the hamburg with white patches and the golden fries in smooth red pouch, place them onto the brown tray.",
+    "Pick up the hamburg with patterned brown surface, grab the red fries packet, place them on the flat tray with smooth surface",
+    "Lift the soft brown bread hamburg and the red fries packet, placing them neatly on the rectangular tray.",
+    "Pick the light brown hamburg, the McDonald's fries bag, and place them on the rectangular tray using both arms.",
+    "Lift the light brown hamburg and the red container with yellow fries and position them on the brown tray with rim.",
+    "Grab the round, soft bread hamburg and the red container with yellow fries, use both arms to set on the smooth plastic tray.",
+    "Grab the hamburg with patterned brown surface with one arm and the red container with yellow fries with the other for the brown tray with rim.",
+    "Lift the brownish round hamburg, lift the rectangular red fries packet, then set both on the brown tray.",
+    "Use both arms to move the brownish round hamburg and the crispy fries in hand-sized pouch to the smooth plastic tray.",
+    "Take the round hamburg and the golden fries in red packaging to the dark rectangular serving tray and set them there.",
+    "Grab the round, soft bread hamburg and the rectangular red fries packet and position them on the medium-sized dark brown tray.",
+    "Use dual arms to grab the brownish round hamburg and the bright red fries holder and set them on the brown tray.",
+    "Grab the smooth hamburg, pick the red box with golden sticks, then set them on the flat tray with smooth surface",
+    "Use dual arms to place the hamburg with patterned brown surface and the rectangular red fries packet onto the rectangular plastic tray",
+    "Move the light brown hamburg and the golden fries in red packaging to the medium-sized dark brown tray with both arms",
+    "Use both arms to transfer the hamburg with white patches and the bright red fries holder to the rectangular tray.",
+    "Transfer the bread bun hamburg and the bright red fries holder to the rectangular tray with both arms",
+    "Place the round hamburg and the McDonald's logo on red fries box onto the brown tray with rim using dual arms",
+    "Lift the round, soft bread hamburg and the red fries packet, position them on the brown tray with rim",
+    "Grab the round, soft bread hamburg, grab the McDonald's fries bag, and set both onto the brown tray with rim.",
+    "Set the hamburg with white patches and the red fries packet on the rectangular tray using two arms.",
+    "Position the hamburg with patterned brown surface and the red box with golden sticks on the dark rectangular serving tray with both arms.",
+    "Set the bread bun hamburg and the rectangular red fries packet down on the rectangular tray after picking them.",
+    "Using both arms, grab the hamburg with white patches and the thin crispy potato fries for the flat brown tray with raised edges."
+  ],
+  "unseen": [
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick the hamburg with white sides and the golden fries in red holder, place them on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container and place them on the medium flat tray.",
+    "Use both arms to grab the palm-sized hamburg and the hand-sized fries container and set them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Place the hamburg with white sides and the hand-sized fries container onto the medium flat tray.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Place the hamburg with white sides and the golden fries in red holder onto the medium flat tray.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box, then set them on the medium flat tray",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the hamburg with light brown top and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container, then place on the medium flat tray.",
+    "Use both arms to place the palm-sized hamburg and the golden fries in red holder on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container and place them on the medium flat tray.",
+    "Use both arms to grab the hamburg with white sides and the golden crispy fries inside red box and set them on the flat brown serving tray.",
+    "Grab the hamburg with light brown top and the golden fries in red holder together, setting them on the tray for carrying items.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the tray for carrying items.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box together, then drop on the tray for carrying items",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, then place them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the golden fries in red holder, then place on the flat brown serving tray.",
+    "Use both arms to place the hamburg with light brown top and the hand-sized fries container on the flat brown serving tray.",
+    "Pick the hamburg with light brown top and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to grab the hamburg with white sides and the golden crispy fries inside red box and set them on the flat brown serving tray.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Place the hamburg with white sides and the golden crispy fries inside red box onto the flat brown serving tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container, then set them on the tray for carrying items",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the palm-sized hamburg and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the medium flat tray.",
+    "Use both arms to place the palm-sized hamburg and the golden crispy fries inside red box on the tray for carrying items.",
+    "Pick the palm-sized hamburg and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the hand-sized fries container and place them on the tray for carrying items.",
+    "Use both arms to grab the hamburg with light brown top and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the medium flat tray.",
+    "Grab the hamburg with white sides and the hand-sized fries container, then set them on the tray for carrying items",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box together, then drop on the flat brown serving tray",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the tray for carrying items.",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the flat brown serving tray.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the palm-sized hamburg and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the medium flat tray.",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the hand-sized fries container and set them on the tray for carrying items.",
+    "Grab the hamburg with white sides and the golden fries in red holder together, setting them on the medium flat tray.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the tray for carrying items.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box, then set them on the medium flat tray",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the flat brown serving tray",
+    "Pick the hamburg with white sides and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Use both arms to place the hamburg with white sides and the golden fries in red holder on the flat brown serving tray.",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden fries in red holder and set them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Place the palm-sized hamburg and the hand-sized fries container onto the medium flat tray.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box, then set them on the medium flat tray",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box together, then drop on the tray for carrying items",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the golden fries in red holder, place them on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box and place them on the medium flat tray.",
+    "Use both arms to grab the hamburg with white sides and the golden fries in red holder and set them on the flat brown serving tray.",
+    "Grab the hamburg with white sides and the golden fries in red holder together, setting them on the tray for carrying items.",
+    "Place the hamburg with light brown top and the golden fries in red holder onto the medium flat tray.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick up the hamburg with white sides and the golden fries in red holder together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick the palm-sized hamburg and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white sides and the hand-sized fries container and set them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Place the palm-sized hamburg and the golden crispy fries inside red box onto the tray for carrying items.",
+    "Grab the palm-sized hamburg and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the hamburg with white sides and the hand-sized fries container together, then drop on the medium flat tray",
+    "Pick the hamburg with white sides and the golden fries in red holder, then place them on the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001012.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white lid with yellow bottom hamburg box, then the Bright red box with fries inside, and place them on the dark green serving tray.",
+    "Pick up the white lid with yellow bottom hamburg box and the Golden fries crispy red package container, then put them on the dark green serving tray",
+    "Transfer the white and yellow printed hamburg holder and the French fries in red packaging to the dark green serving tray with both arms",
+    "Pick the smooth yellow hamburg packaging and the Light yellow fries in red holder, and set them on the dark green serving tray.",
+    "Grab the rectangular hamburg box and the Golden fries sticks in red carton and position them on the tray for serving items.",
+    "Lift the bright yellow hamburg box with logo and the Small red box fries inside, position them on the single-piece dark green tray",
+    "Grab the medium-sized yellow hamburg package, then the Rectangular red carton holding fries, and set them on the dark green rectangular plastic tray.",
+    "Place both the yellow hamburg box with white accents and the Red fries box on the solid green palm-sized tray after grabbing them with both arms.",
+    "Pick up the hamburg box with foldable top, grab the Open-top red box filled with fries, place them on the dark green rectangular plastic tray",
+    "Use both arms to move the yellow box for hamburg and the Golden fries crispy red package container to the tray for holding objects.",
+    "Grab the medium-sized box with hamburg design, grab the Potato fries packaged in red carton, and set both onto the rectangular green tray.",
+    "Use dual arms to move the yellow hamburg box with white accents and the Potato fries packaged in red carton onto the flat green rectangular tray",
+    "Take the yellow box for hamburg and the Small red box fries inside, place them onto the dark green rectangular plastic tray.",
+    "Pick up the smooth yellow hamburg packaging and the Red fries box one by one and place on the flat green rectangular tray.",
+    "Pick up the yellow hamburg box and the Palm-sized red fries container, then put both on the smooth texture green tray.",
+    "Move the medium-sized box with hamburg design and the Golden fries sticks in red carton to the tray with rounded corners using both arms.",
+    "Place the foldable hamburg cardboard box and the Small red box fries inside onto the solid green palm-sized tray using dual arms",
+    "With two arms, pick the yellow box for hamburg and the Potato fries packaged in red carton for the dark green serving tray.",
+    "Set the foldable hamburg cardboard box and the Palm-sized red fries container on the dark green serving tray using two arms.",
+    "Lift the white and yellow printed hamburg holder and the Rectangular red carton holding fries, placing them neatly on the flat green rectangular tray.",
+    "Take the white and yellow printed hamburg holder, take the Small red box fries inside, and place them onto the medium plastic tray.",
+    "Move the smooth yellow hamburg packaging and the Potato fries packaged in red carton with dual arms to the medium plastic tray.",
+    "Use both arms to move the bright yellow hamburg box with logo and the Light yellow fries in red holder to the tray with rounded corners.",
+    "Use dual arms to place the medium-sized box with hamburg design and the Light yellow fries in red holder onto the solid green palm-sized tray",
+    "Using dual arms, lift the bright yellow hamburg box with logo and the Potato fries packaged in red carton and drop them on the smooth texture green tray.",
+    "Grab the white lid with yellow bottom hamburg box with one arm and the Red fries box with the other for the smooth texture green tray.",
+    "Using both arms, pick the smooth yellow hamburg packaging and the Open-top red box filled with fries and drop them on the solid green palm-sized tray.",
+    "Grab the hamburg box with foldable top and the Golden fries sticks in red carton, use both arms to set on the dark green serving tray.",
+    "Take the yellow box for hamburg and the Bright red box with fries inside to the plastic tray with curved edges and set them there.",
+    "Position the yellow hamburg box and the French fries in red packaging on the tray for serving items with both arms.",
+    "Set the bright yellow hamburg box with logo and the Golden fries crispy red package container down on the rectangular green tray after picking them.",
+    "Move the bright yellow hamburg box with logo and the Red fries box to the smooth texture green tray with both arms",
+    "Use both arms to transfer the yellow hamburg box and the Rectangular red carton holding fries to the dark green serving tray.",
+    "Lift the medium-sized box with hamburg design, lift the Palm-sized red fries container, then set both on the rectangular green tray.",
+    "Move the yellow box for hamburg and the Golden fries sticks in red carton onto the flat green rectangular tray with both arms.",
+    "Using both arms, grab the foldable hamburg cardboard box and the Palm-sized red fries container for the rectangular green tray.",
+    "Grab the medium-sized box with hamburg design, pick the Light yellow fries in red holder, then set them on the rectangular green tray",
+    "Using dual arms, move the yellow box for hamburg and the Handheld fries pack bright red color onto the solid green palm-sized tray.",
+    "Use dual arms to grab the smooth yellow hamburg packaging and the Golden fries sticks in red carton and set them on the single-piece dark green tray.",
+    "Grab the medium-sized yellow hamburg package and the Bright red box with fries inside, then put them on the single-piece dark green tray.",
+    "Place the white and yellow printed hamburg holder and the Golden fries crispy red package container onto the rectangular green tray after picking them up.",
+    "Pick the bright yellow hamburg box with logo, the Golden fries sticks in red carton, and place them on the single-piece dark green tray using both arms.",
+    "Place the hamburg box with foldable top and the Light yellow fries in red holder on the plastic tray with curved edges after picking them up.",
+    "Place the medium-sized box with hamburg design and the Light yellow fries in red holder together onto the flat green rectangular tray.",
+    "Using both arms, set the bright yellow hamburg box with logo and the Light yellow fries in red holder onto the tray for holding objects.",
+    "With dual arms, move the yellow box for hamburg and the Golden fries crispy red package container onto the flat green rectangular tray.",
+    "Lift the yellow box for hamburg and the Rectangular red carton holding fries and position them on the tray with rounded corners.",
+    "Put the smooth yellow hamburg packaging and the Palm-sized red fries container on the dark green rectangular plastic tray using both arms",
+    "Pick up the hamburg box with foldable top, then the Golden fries crispy red package container, and place them onto the dark green rectangular plastic tray.",
+    "Take the bright yellow hamburg box with logo and the French fries in red packaging with both arms and set on the single-piece dark green tray.",
+    "Pick the white lid with yellow bottom hamburg box, then the Handheld fries pack bright red color, and place them on the flat green rectangular tray.",
+    "Pick up the hamburg box with foldable top and the Red fries box, then put them on the single-piece dark green tray",
+    "Transfer the medium-sized box with hamburg design and the Golden fries crispy red package container to the rectangular green tray with both arms",
+    "Pick the medium-sized yellow hamburg package and the Potato fries packaged in red carton, and set them on the rectangular green tray.",
+    "Grab the bright yellow hamburg box with logo and the Golden fries sticks in red carton and position them on the plastic tray with curved edges.",
+    "Lift the foldable hamburg cardboard box and the Rectangular red carton holding fries, position them on the plastic tray with curved edges",
+    "Grab the yellow hamburg box, then the Red fries box, and set them on the smooth texture green tray.",
+    "Place both the yellow box for hamburg and the French fries in red packaging on the tray for holding objects after grabbing them with both arms.",
+    "Pick up the white lid with yellow bottom hamburg box, grab the Rectangular red carton holding fries, place them on the plastic tray with curved edges",
+    "Use both arms to move the smooth yellow hamburg packaging and the Golden fries sticks in red carton to the tray for holding objects.",
+    "Grab the rectangular hamburg box, grab the Golden fries crispy red package container, and set both onto the rectangular green tray.",
+    "Use dual arms to move the bright yellow hamburg box with logo and the Light yellow fries in red holder onto the plastic tray with curved edges",
+    "Take the white lid with yellow bottom hamburg box and the Small red box fries inside, place them onto the flat green rectangular tray.",
+    "Pick up the yellow hamburg box and the Potato fries packaged in red carton one by one and place on the tray for holding objects.",
+    "Pick up the foldable hamburg cardboard box and the Palm-sized red fries container, then put both on the tray for holding objects.",
+    "Move the bright yellow hamburg box with logo and the Light yellow fries in red holder to the tray for holding objects using both arms.",
+    "Place the medium-sized box with hamburg design and the Light yellow fries in red holder onto the solid green palm-sized tray using dual arms",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the Small red box fries inside for the tray for serving items.",
+    "Set the bright yellow hamburg box with logo and the French fries in red packaging on the rectangular green tray using two arms.",
+    "Lift the bright yellow hamburg box with logo and the Red fries box, placing them neatly on the smooth texture green tray.",
+    "Take the hamburg box with foldable top, take the Bright red box with fries inside, and place them onto the solid green palm-sized tray.",
+    "Move the rectangular hamburg box and the Palm-sized red fries container with dual arms to the flat green rectangular tray.",
+    "Use both arms to move the white lid with yellow bottom hamburg box and the Golden fries sticks in red carton to the rectangular green tray.",
+    "Use dual arms to place the smooth yellow hamburg packaging and the Palm-sized red fries container onto the dark green rectangular plastic tray",
+    "Using dual arms, lift the rectangular hamburg box and the Bright red box with fries inside and drop them on the tray with rounded corners.",
+    "Grab the smooth yellow hamburg packaging with one arm and the Rectangular red carton holding fries with the other for the plastic tray with curved edges.",
+    "Using both arms, pick the yellow hamburg box and the Handheld fries pack bright red color and drop them on the solid green palm-sized tray.",
+    "Grab the white and yellow printed hamburg holder and the Light yellow fries in red holder, use both arms to set on the plastic tray with curved edges.",
+    "Take the smooth yellow hamburg packaging and the Open-top red box filled with fries to the single-piece dark green tray and set them there.",
+    "Position the yellow hamburg box with white accents and the Light yellow fries in red holder on the flat green rectangular tray with both arms.",
+    "Set the white lid with yellow bottom hamburg box and the French fries in red packaging down on the smooth texture green tray after picking them.",
+    "Move the medium-sized box with hamburg design and the Bright red box with fries inside to the solid green palm-sized tray with both arms",
+    "Use both arms to transfer the foldable hamburg cardboard box and the Open-top red box filled with fries to the flat green rectangular tray.",
+    "Lift the white lid with yellow bottom hamburg box, lift the Golden fries sticks in red carton, then set both on the smooth texture green tray.",
+    "Move the yellow box for hamburg and the Rectangular red carton holding fries onto the dark green rectangular plastic tray with both arms.",
+    "Using both arms, grab the yellow hamburg box with white accents and the Rectangular red carton holding fries for the smooth texture green tray.",
+    "Grab the smooth yellow hamburg packaging, pick the Small red box fries inside, then set them on the rectangular green tray",
+    "Using dual arms, move the yellow box for hamburg and the Small red box fries inside onto the tray for serving items.",
+    "Use dual arms to grab the medium-sized box with hamburg design and the Rectangular red carton holding fries and set them on the rectangular green tray.",
+    "Grab the yellow box for hamburg and the Rectangular red carton holding fries, then put them on the smooth texture green tray.",
+    "Place the smooth yellow hamburg packaging and the Light yellow fries in red holder onto the rectangular green tray after picking them up.",
+    "Pick the smooth yellow hamburg packaging, the Rectangular red carton holding fries, and place them on the medium plastic tray using both arms.",
+    "Place the yellow hamburg box with white accents and the French fries in red packaging on the smooth texture green tray after picking them up.",
+    "Place the hamburg box with foldable top and the Small red box fries inside together onto the single-piece dark green tray.",
+    "Using both arms, set the bright yellow hamburg box with logo and the Handheld fries pack bright red color onto the single-piece dark green tray.",
+    "With dual arms, move the medium-sized box with hamburg design and the Small red box fries inside onto the tray for serving items.",
+    "Lift the white and yellow printed hamburg holder and the French fries in red packaging and position them on the single-piece dark green tray.",
+    "Put the white lid with yellow bottom hamburg box and the Golden fries crispy red package container on the rectangular green tray using both arms",
+    "Pick up the medium-sized box with hamburg design, then the Open-top red box filled with fries, and place them onto the solid green palm-sized tray.",
+    "Take the smooth yellow hamburg packaging and the Golden fries crispy red package container with both arms and set on the rectangular green tray."
+  ],
+  "unseen": [
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the green tray",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the green tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the green tray",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the green tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001013.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the hamburg with crumpled edges and the red container with yellow fries on the beige tray after picking them up.",
+    "Move the hamburg with yellow and brown marks and the red container with yellow fries to the tray for holding items with both arms",
+    "Using dual arms, lift the smooth white hamburg wrap with yellow spots and the thin crispy potato fries and drop them on the medium rectangular flat tray.",
+    "Move the rectangular hamburg wrap with printed design and the bright red fries holder to the smooth light beige plastic tray using both arms.",
+    "Use both arms to move the white hamburg and the small red fries packet to the medium rectangular flat tray.",
+    "Use both arms to transfer the yellow and brown patterned hamburg and the bright red fries holder to the medium rectangular flat tray.",
+    "Grab the hamburg with crumpled edges and the golden fries in smooth red pouch, use both arms to set on the rectangular beige tray for objects.",
+    "Lift the white hamburg with creased wrapper and the red fries packet, position them on the rectangular beige tray for objects",
+    "Grab the wrapped hamburg with white plastic-like cover and the red fries packet, then put them on the tray with smooth plastic surface.",
+    "Place both the hamburg with yellow and brown marks and the thin crispy potato fries on the medium beige tray with flat base after grabbing them with both arms.",
+    "Place the white hamburg with creased wrapper and the red fries packet together onto the light beige smooth tray.",
+    "Set the yellow and brown patterned hamburg and the McDonald's fries bag on the medium beige tray with flat base using two arms.",
+    "With dual arms, move the hamburg with printed illustrations and the small red fries packet onto the medium rectangular flat tray.",
+    "Take the smooth white hamburg packaging and the red fries packet with both arms and set on the tray for holding items.",
+    "Grab the rectangular hamburg wrap with printed design, grab the golden fries in red packaging, and set both onto the tray with smooth plastic surface.",
+    "Pick the white hamburg with creased wrapper and the crispy fries in hand-sized pouch, and set them on the medium beige tray with flat base.",
+    "Pick the white hamburg with yellow and brown stains, the golden fries in red packaging, and place them on the flat tray with rounded corners using both arms.",
+    "Using dual arms, move the hamburg with crumpled edges and the small red fries packet onto the smooth rectangular tray.",
+    "Pick the palm-sized hamburg packaging, then the bright red fries holder, and place them on the flat tray with rounded corners.",
+    "Place the wrapped hamburg with white plastic-like cover and the red box with golden sticks onto the light beige smooth tray using dual arms",
+    "Use dual arms to move the white hamburg and the golden fries in smooth red pouch onto the light beige smooth tray",
+    "Place the smooth white hamburg wrap with yellow spots and the McDonald's fries bag onto the tray for holding items after picking them up.",
+    "Use dual arms to grab the wrapped hamburg with white plastic-like cover and the McDonald's fries bag and set them on the tray for holding items.",
+    "Put the white hamburg with yellow and brown stains and the McDonald's logo on red fries box on the light beige smooth tray using both arms",
+    "Grab the white hamburg with creased wrapper with one arm and the crispy fries in hand-sized pouch with the other for the medium rectangular flat tray.",
+    "Using both arms, set the hamburg with yellow and brown marks and the golden fries in red packaging onto the tray with rounded rectangular shape.",
+    "Set the hamburg with printed illustrations and the thin crispy potato fries down on the smooth light beige plastic tray after picking them.",
+    "Take the yellow and brown patterned hamburg and the McDonald's logo on red fries box, place them onto the flat tray with rounded corners.",
+    "Using both arms, grab the yellow and brown patterned hamburg and the small red fries packet for the smooth light beige plastic tray.",
+    "Pick up the white hamburg, then the McDonald's logo on red fries box, and place them onto the tray with smooth plastic surface.",
+    "Pick up the white hamburg with yellow and brown stains and the small red fries packet, then put them on the smooth light beige plastic tray",
+    "Grab the hamburg with printed illustrations and the golden fries in smooth red pouch and position them on the smooth light beige plastic tray.",
+    "Lift the yellow and brown patterned hamburg, lift the small red fries packet, then set both on the tray with rounded rectangular shape.",
+    "Pick up the smooth white hamburg wrap with yellow spots and the golden fries in red packaging, then put both on the tray with smooth plastic surface.",
+    "Grab the smooth white hamburg wrap with yellow spots, then the golden fries in red packaging, and set them on the beige tray.",
+    "Pick up the hamburg with printed illustrations, grab the bright red fries holder, place them on the tray for holding items",
+    "Lift the wrapped hamburg with white plastic-like cover and the bright red fries holder and position them on the medium beige tray with flat base.",
+    "Pick up the palm-sized hamburg packaging and the thin crispy potato fries one by one and place on the medium rectangular flat tray.",
+    "Lift the hamburg with yellow and brown marks and the McDonald's fries bag, placing them neatly on the tray with rounded rectangular shape.",
+    "Move the rectangular hamburg wrap with printed design and the rectangular red fries packet onto the smooth rectangular tray with both arms.",
+    "Move the smooth white hamburg wrap with yellow spots and the bright red fries holder with dual arms to the light beige smooth tray.",
+    "Using both arms, pick the wrapped hamburg with white plastic-like cover and the red container with yellow fries and drop them on the beige tray.",
+    "Take the smooth white hamburg wrap with yellow spots, take the thin crispy potato fries, and place them onto the light beige smooth tray.",
+    "Take the smooth white hamburg wrap with yellow spots and the red box with golden sticks to the medium beige tray with flat base and set them there.",
+    "With two arms, pick the wrapped hamburg with white plastic-like cover and the thin crispy potato fries for the smooth rectangular tray.",
+    "Grab the hamburg with crumpled edges, pick the bright red fries holder, then set them on the medium rectangular flat tray",
+    "Position the palm-sized hamburg packaging and the red container with yellow fries on the medium rectangular flat tray with both arms.",
+    "Use both arms to move the smooth white hamburg wrap with yellow spots and the McDonald's fries bag to the rectangular beige tray for objects.",
+    "Use dual arms to place the smooth white hamburg packaging and the McDonald's logo on red fries box onto the tray with rounded rectangular shape",
+    "Transfer the white hamburg with yellow and brown stains and the thin crispy potato fries to the smooth rectangular tray with both arms",
+    "Place the white hamburg with creased wrapper and the red fries packet on the medium beige tray with flat base after picking them up.",
+    "Move the smooth white hamburg packaging and the McDonald's fries bag to the smooth rectangular tray with both arms",
+    "Using dual arms, lift the palm-sized hamburg packaging and the crispy fries in hand-sized pouch and drop them on the medium rectangular flat tray.",
+    "Move the hamburg with crumpled edges and the thin crispy potato fries to the beige tray using both arms.",
+    "Use both arms to move the hamburg with printed illustrations and the McDonald's logo on red fries box to the plastic tray for carrying items.",
+    "Use both arms to transfer the hamburg with crumpled edges and the small red fries packet to the light beige smooth tray.",
+    "Grab the hamburg with yellow and brown marks and the golden fries in red packaging, use both arms to set on the rectangular beige tray for objects.",
+    "Lift the yellow and brown patterned hamburg and the red fries packet, position them on the smooth light beige plastic tray",
+    "Grab the rectangular hamburg wrap with printed design and the rectangular red fries packet, then put them on the light beige smooth tray.",
+    "Place both the white hamburg with creased wrapper and the golden fries in smooth red pouch on the beige tray after grabbing them with both arms.",
+    "Place the smooth white hamburg wrap with yellow spots and the red fries packet together onto the smooth light beige plastic tray.",
+    "Set the hamburg with yellow and brown marks and the small red fries packet on the smooth light beige plastic tray using two arms.",
+    "With dual arms, move the rectangular hamburg wrap with printed design and the golden fries in red packaging onto the beige tray.",
+    "Take the palm-sized hamburg packaging and the golden fries in smooth red pouch with both arms and set on the beige tray.",
+    "Grab the palm-sized hamburg packaging, grab the red container with yellow fries, and set both onto the light beige smooth tray.",
+    "Pick the smooth white hamburg packaging and the golden fries in smooth red pouch, and set them on the tray for holding items.",
+    "Pick the white hamburg with creased wrapper, the bright red fries holder, and place them on the light beige smooth tray using both arms.",
+    "Using dual arms, move the white hamburg and the small red fries packet onto the flat tray with rounded corners.",
+    "Pick the wrapped hamburg with white plastic-like cover, then the thin crispy potato fries, and place them on the medium beige tray with flat base.",
+    "Place the hamburg with crumpled edges and the thin crispy potato fries onto the smooth rectangular tray using dual arms",
+    "Use dual arms to move the wrapped hamburg with white plastic-like cover and the red box with golden sticks onto the flat tray with rounded corners",
+    "Place the hamburg with printed illustrations and the bright red fries holder onto the plastic tray for carrying items after picking them up.",
+    "Use dual arms to grab the palm-sized hamburg packaging and the red fries packet and set them on the smooth rectangular tray.",
+    "Put the hamburg with printed illustrations and the crispy fries in hand-sized pouch on the tray with rounded rectangular shape using both arms",
+    "Grab the yellow and brown patterned hamburg with one arm and the golden fries in red packaging with the other for the tray for holding items.",
+    "Using both arms, set the hamburg with printed illustrations and the red fries packet onto the medium rectangular flat tray.",
+    "Set the hamburg with crumpled edges and the red container with yellow fries down on the tray with smooth plastic surface after picking them.",
+    "Take the wrapped hamburg with white plastic-like cover and the golden fries in smooth red pouch, place them onto the rectangular beige tray for objects.",
+    "Using both arms, grab the palm-sized hamburg packaging and the crispy fries in hand-sized pouch for the tray with smooth plastic surface.",
+    "Pick up the white hamburg with yellow and brown stains, then the bright red fries holder, and place them onto the smooth light beige plastic tray.",
+    "Pick up the white hamburg with yellow and brown stains and the small red fries packet, then put them on the tray with smooth plastic surface",
+    "Grab the white hamburg with yellow and brown stains and the golden fries in smooth red pouch and position them on the plastic tray for carrying items.",
+    "Lift the hamburg with printed illustrations, lift the crispy fries in hand-sized pouch, then set both on the medium beige tray with flat base.",
+    "Pick up the white hamburg with creased wrapper and the red container with yellow fries, then put both on the rectangular beige tray for objects.",
+    "Grab the hamburg with yellow and brown marks, then the rectangular red fries packet, and set them on the medium rectangular flat tray.",
+    "Pick up the white hamburg with yellow and brown stains, grab the thin crispy potato fries, place them on the tray with smooth plastic surface",
+    "Lift the hamburg with crumpled edges and the crispy fries in hand-sized pouch and position them on the light beige smooth tray.",
+    "Pick up the white hamburg and the small red fries packet one by one and place on the rectangular beige tray for objects.",
+    "Lift the white hamburg with yellow and brown stains and the red box with golden sticks, placing them neatly on the rectangular beige tray for objects.",
+    "Move the white hamburg with yellow and brown stains and the golden fries in smooth red pouch onto the smooth rectangular tray with both arms.",
+    "Move the hamburg with printed illustrations and the rectangular red fries packet with dual arms to the smooth light beige plastic tray.",
+    "Using both arms, pick the white hamburg with creased wrapper and the thin crispy potato fries and drop them on the medium rectangular flat tray.",
+    "Take the hamburg with crumpled edges, take the golden fries in red packaging, and place them onto the medium rectangular flat tray.",
+    "Take the yellow and brown patterned hamburg and the small red fries packet to the flat tray with rounded corners and set them there.",
+    "With two arms, pick the rectangular hamburg wrap with printed design and the bright red fries holder for the light beige smooth tray.",
+    "Grab the wrapped hamburg with white plastic-like cover, pick the thin crispy potato fries, then set them on the smooth light beige plastic tray",
+    "Position the white hamburg with yellow and brown stains and the rectangular red fries packet on the tray with smooth plastic surface with both arms.",
+    "Use both arms to move the hamburg with printed illustrations and the crispy fries in hand-sized pouch to the beige tray.",
+    "Use dual arms to place the white hamburg with yellow and brown stains and the red fries packet onto the light beige smooth tray",
+    "Transfer the wrapped hamburg with white plastic-like cover and the red container with yellow fries to the light beige smooth tray with both arms"
+  ],
+  "unseen": [
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Place the hamburg with uneven white surface and the golden fries in red holder onto the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder together, then drop on the medium beige plastic tray",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the hand-sized fries container, then set them on the rectangular beige tray",
+    "Grab the rounded rectangular hamburg wrap and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with uneven white surface and the golden fries in red holder and set them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box and place them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the hand-sized fries container on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the golden fries in red holder onto the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box, then set them on the beige tray with soft edges",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the hand-sized fries container and set them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder, then place on the beige tray with soft edges.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the hand-sized fries container on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Place the small yellow-marked hamburg wrapper and the golden crispy fries inside red box onto the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the beige tray with soft edges.",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden fries in red holder on the beige tray with soft edges.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the beige tray with soft edges.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, then place them on the beige tray with soft edges.",
+    "Grab the small yellow-marked hamburg wrapper and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with uneven white surface and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to place the hamburg with uneven white surface and the hand-sized fries container on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the golden fries in red holder, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the hand-sized fries container onto the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the medium beige plastic tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the rectangular beige tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder, then place on the beige tray with soft edges.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden fries in red holder on the rectangular beige tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, then place them on the medium beige plastic tray.",
+    "Grab the rounded rectangular hamburg wrap and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the medium beige plastic tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden fries in red holder and set them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container, then place on the rectangular beige tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Pick the rounded rectangular hamburg wrap and the golden fries in red holder, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the golden fries in red holder onto the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, then drop on the beige tray with soft edges",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the medium beige plastic tray",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box together, setting them on the medium beige plastic tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container, then place on the rectangular beige tray.",
+    "Use both arms to place the hamburg with uneven white surface and the hand-sized fries container on the beige tray with soft edges.",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the golden crispy fries inside red box onto the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container together, then drop on the beige tray with soft edges",
+    "Pick the hamburg with uneven white surface and the golden fries in red holder, then place them on the beige tray with soft edges.",
+    "Grab the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then set them on the rectangular beige tray",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container together, setting them on the beige tray with soft edges.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the hand-sized fries container onto the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder, then set them on the medium beige plastic tray",
+    "Grab the rounded rectangular hamburg wrap and the hand-sized fries container together, setting them on the rectangular beige tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place on the beige tray with soft edges.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the golden crispy fries inside red box onto the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, then drop on the beige tray with soft edges",
+    "Pick the rounded rectangular hamburg wrap and the hand-sized fries container, then place them on the beige tray with soft edges.",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden crispy fries inside red box and set them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box and place them on the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place on the rectangular beige tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the hand-sized fries container on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001015.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the hamburg box with lid, grab the bright red fries holder, place them on the smooth plastic tray",
+    "Grab the easy-to-carry hamburg box and the crispy fries in hand-sized pouch, use both arms to set on the bright orange tray for serving.",
+    "Grab the yellow and green hamburg holder, pick the bright red fries holder, then set them on the plastic tray with shiny texture",
+    "Use dual arms to grab the hamburg box with lid and the crispy fries in hand-sized pouch and set them on the plastic tray with shiny texture.",
+    "Using both arms, grab the hamburg box with rounded edges and the red box with golden sticks for the bright orange tray for serving.",
+    "Take the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch with both arms and set on the smooth glossy orange medium tray.",
+    "Lift the smooth hamburg box and the red container with yellow fries, position them on the medium bright orange tray",
+    "Place the hamburg box with lid and the golden fries in red packaging onto the plastic tray for holding items using dual arms",
+    "Lift the hamburg box with lid and the McDonald's logo on red fries box and position them on the medium-sized plastic tray.",
+    "Pick up the smooth hamburg box, then the golden fries in smooth red pouch, and place them onto the plastic tray with shiny texture.",
+    "Using both arms, pick the easy-to-carry hamburg box and the red container with yellow fries and drop them on the plastic tray with shiny texture.",
+    "Move the rectangular hamburg box and the golden fries in smooth red pouch to the rectangular tray with both arms",
+    "Lift the hamburg box with rounded edges, lift the red box with golden sticks, then set both on the medium bright orange tray.",
+    "Pick the green and yellow hamburg container and the crispy fries in hand-sized pouch, and set them on the bright orange tray for serving.",
+    "Take the hamburg box with lid and the red container with yellow fries to the smooth plastic tray and set them there.",
+    "Place the small hamburg box and the rectangular red fries packet on the medium-sized plastic tray after picking them up.",
+    "Pick up the box with green hamburg lid and the red fries packet one by one and place on the medium-sized plastic tray.",
+    "Grab the rectangular hamburg container with smooth finish and the thin crispy potato fries and position them on the smooth plastic tray.",
+    "Set the rectangular hamburg box and the red fries packet down on the orange tray with smooth surface after picking them.",
+    "Pick up the yellow bottom hamburg box and the red container with yellow fries, then put both on the medium bright orange tray.",
+    "Using dual arms, lift the box with green hamburg lid and the golden fries in red packaging and drop them on the smooth glossy orange medium tray.",
+    "Grab the small hamburg box, then the thin crispy potato fries, and set them on the medium bright orange tray.",
+    "Use both arms to transfer the yellow bottom hamburg box and the bright red fries holder to the plastic tray for holding items.",
+    "Use both arms to move the green and yellow hamburg container and the small red fries packet to the bright orange rectangular tray.",
+    "Move the hamburg box with lid and the thin crispy potato fries with dual arms to the plastic tray for holding items.",
+    "Place the box with green hamburg lid and the red box with golden sticks onto the plastic tray for holding items after picking them up.",
+    "Using dual arms, move the yellow and green hamburg holder and the golden fries in smooth red pouch onto the smooth glossy orange medium tray.",
+    "Use both arms to move the hamburg box with lid and the golden fries in red packaging to the orange tray with smooth surface.",
+    "Grab the small hamburg box and the small red fries packet, then put them on the orange tray.",
+    "Pick the box with green hamburg lid, then the red container with yellow fries, and place them on the bright orange tray for serving.",
+    "Use dual arms to place the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch onto the rectangular tray",
+    "With dual arms, move the hamburg box with rounded edges and the red fries packet onto the bright orange tray with glossy finish.",
+    "Take the box with green hamburg lid, take the McDonald's logo on red fries box, and place them onto the smooth glossy orange medium tray.",
+    "Pick up the hamburg box with lid and the thin crispy potato fries, then put them on the plastic tray for holding items",
+    "Take the box with green hamburg lid and the red container with yellow fries, place them onto the bright orange rectangular tray.",
+    "Grab the box with green hamburg lid with one arm and the red container with yellow fries with the other for the medium-sized plastic tray.",
+    "Place the hamburg box with lid and the rectangular red fries packet together onto the smooth plastic tray.",
+    "Use dual arms to move the green top hamburg box and the McDonald's fries bag onto the medium-sized plastic tray",
+    "Place both the rectangular hamburg container with smooth finish and the red box with golden sticks on the plastic tray with shiny texture after grabbing them with both arms.",
+    "Using both arms, set the hamburg box with rounded edges and the rectangular red fries packet onto the plastic tray for holding items.",
+    "Move the rectangular hamburg box and the golden fries in smooth red pouch to the smooth glossy orange medium tray using both arms.",
+    "Position the yellow bottom hamburg box and the rectangular red fries packet on the rectangular tray with both arms.",
+    "Set the rectangular hamburg container with smooth finish and the McDonald's logo on red fries box on the medium-sized plastic tray using two arms.",
+    "Move the green and yellow hamburg container and the small red fries packet onto the plastic tray for holding items with both arms.",
+    "Put the green and yellow hamburg container and the bright red fries holder on the medium bright orange tray using both arms",
+    "Grab the box with green hamburg lid, grab the thin crispy potato fries, and set both onto the medium bright orange tray.",
+    "Pick the hamburg box with lid, the red box with golden sticks, and place them on the orange tray with smooth surface using both arms.",
+    "With two arms, pick the green and yellow hamburg container and the crispy fries in hand-sized pouch for the bright orange rectangular tray.",
+    "Transfer the rectangular hamburg box and the small red fries packet to the medium-sized plastic tray with both arms",
+    "Lift the hamburg box with rounded edges and the bright red fries holder, placing them neatly on the medium-sized plastic tray.",
+    "Pick up the green and yellow hamburg container, grab the red box with golden sticks, place them on the bright orange rectangular tray",
+    "Grab the smooth hamburg box and the McDonald's logo on red fries box, use both arms to set on the orange tray.",
+    "Grab the easy-to-carry hamburg box, pick the McDonald's logo on red fries box, then set them on the rectangular tray",
+    "Use dual arms to grab the hamburg box with rounded edges and the golden fries in smooth red pouch and set them on the rectangular tray.",
+    "Using both arms, grab the easy-to-carry hamburg box and the rectangular red fries packet for the medium bright orange tray.",
+    "Take the box with green hamburg lid and the small red fries packet with both arms and set on the bright orange tray for serving.",
+    "Lift the hamburg box with rounded edges and the golden fries in smooth red pouch, position them on the plastic tray for holding items",
+    "Place the rectangular hamburg container with smooth finish and the golden fries in red packaging onto the orange tray with smooth surface using dual arms",
+    "Lift the yellow bottom hamburg box and the golden fries in red packaging and position them on the bright orange tray with glossy finish.",
+    "Pick up the smooth hamburg box, then the golden fries in red packaging, and place them onto the medium-sized plastic tray.",
+    "Using both arms, pick the yellow bottom hamburg box and the crispy fries in hand-sized pouch and drop them on the orange tray with smooth surface.",
+    "Move the green and yellow hamburg container and the red box with golden sticks to the medium-sized plastic tray with both arms",
+    "Lift the small hamburg box, lift the small red fries packet, then set both on the orange tray with smooth surface.",
+    "Pick the hamburg box with lid and the golden fries in smooth red pouch, and set them on the bright orange tray for serving.",
+    "Take the yellow bottom hamburg box and the golden fries in red packaging to the orange tray with smooth surface and set them there.",
+    "Place the hamburg box with rounded edges and the crispy fries in hand-sized pouch on the medium-sized plastic tray after picking them up.",
+    "Pick up the green and yellow hamburg container and the McDonald's logo on red fries box one by one and place on the medium bright orange tray.",
+    "Grab the rectangular hamburg box and the small red fries packet and position them on the orange tray with smooth surface.",
+    "Set the yellow and green hamburg holder and the McDonald's logo on red fries box down on the bright orange tray with glossy finish after picking them.",
+    "Pick up the hamburg box with rounded edges and the crispy fries in hand-sized pouch, then put both on the smooth plastic tray.",
+    "Using dual arms, lift the hamburg box with rounded edges and the thin crispy potato fries and drop them on the bright orange tray with glossy finish.",
+    "Grab the box with green hamburg lid, then the McDonald's logo on red fries box, and set them on the bright orange tray with glossy finish.",
+    "Use both arms to transfer the yellow and green hamburg holder and the golden fries in red packaging to the plastic tray for holding items.",
+    "Use both arms to move the smooth hamburg box and the golden fries in smooth red pouch to the medium-sized plastic tray.",
+    "Move the rectangular hamburg box and the crispy fries in hand-sized pouch with dual arms to the orange tray with smooth surface.",
+    "Place the yellow bottom hamburg box and the bright red fries holder onto the plastic tray with shiny texture after picking them up.",
+    "Using dual arms, move the rectangular hamburg container with smooth finish and the red container with yellow fries onto the bright orange rectangular tray.",
+    "Use both arms to move the yellow and green hamburg holder and the McDonald's logo on red fries box to the rectangular tray.",
+    "Grab the smooth hamburg box and the red box with golden sticks, then put them on the smooth plastic tray.",
+    "Pick the hamburg box with rounded edges, then the rectangular red fries packet, and place them on the smooth glossy orange medium tray.",
+    "Use dual arms to place the smooth hamburg box and the red box with golden sticks onto the orange tray",
+    "With dual arms, move the rectangular hamburg container with smooth finish and the bright red fries holder onto the orange tray.",
+    "Take the smooth hamburg box, take the golden fries in red packaging, and place them onto the plastic tray for holding items.",
+    "Pick up the rectangular hamburg box and the McDonald's fries bag, then put them on the plastic tray with shiny texture",
+    "Take the hamburg box with lid and the McDonald's logo on red fries box, place them onto the bright orange rectangular tray.",
+    "Grab the small hamburg box with one arm and the red box with golden sticks with the other for the rectangular tray.",
+    "Place the rectangular hamburg box and the bright red fries holder together onto the smooth glossy orange medium tray.",
+    "Use dual arms to move the smooth hamburg box and the McDonald's logo on red fries box onto the medium bright orange tray",
+    "Place both the box with green hamburg lid and the crispy fries in hand-sized pouch on the plastic tray with shiny texture after grabbing them with both arms.",
+    "Using both arms, set the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch onto the smooth glossy orange medium tray.",
+    "Move the box with green hamburg lid and the rectangular red fries packet to the orange tray with smooth surface using both arms.",
+    "Position the green top hamburg box and the thin crispy potato fries on the plastic tray with shiny texture with both arms.",
+    "Set the rectangular hamburg box and the small red fries packet on the medium-sized plastic tray using two arms.",
+    "Move the smooth hamburg box and the golden fries in red packaging onto the medium bright orange tray with both arms.",
+    "Put the easy-to-carry hamburg box and the McDonald's fries bag on the bright orange tray with glossy finish using both arms",
+    "Grab the rectangular hamburg box, grab the golden fries in red packaging, and set both onto the smooth glossy orange medium tray.",
+    "Pick the yellow and green hamburg holder, the golden fries in smooth red pouch, and place them on the plastic tray with shiny texture using both arms.",
+    "With two arms, pick the green and yellow hamburg container and the small red fries packet for the orange tray.",
+    "Transfer the box with green hamburg lid and the red container with yellow fries to the bright orange tray for serving with both arms",
+    "Lift the easy-to-carry hamburg box and the thin crispy potato fries, placing them neatly on the smooth glossy orange medium tray."
+  ],
+  "unseen": [
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box and place them on the rectangular tray with rounded edges.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder together, then drop on the rectangular tray with rounded edges",
+    "Pick the stackable hamburg box and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Place the compact hamburg box and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the medium-sized tray with rounded corners",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the rectangular tray with rounded edges.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Place the compact hamburg box and the hand-sized fries container onto the medium-sized tray with rounded corners."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001018.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow hamburg box and the Red fries box, placing them neatly on the plastic tray for holding items.",
+    "Set the bright yellow hamburg box with logo and the Potato fries packaged in red carton on the bright orange rectangular tray using two arms.",
+    "Using both arms, pick the foldable hamburg cardboard box and the Rectangular red carton holding fries and drop them on the smooth glossy orange medium tray.",
+    "Using both arms, grab the smooth yellow hamburg packaging and the Golden fries sticks in red carton for the medium-sized plastic tray.",
+    "Grab the hamburg box with foldable top and the Golden fries sticks in red carton, then put them on the smooth glossy orange medium tray.",
+    "Use dual arms to place the foldable hamburg cardboard box and the Bright red box with fries inside onto the medium bright orange tray",
+    "Move the white lid with yellow bottom hamburg box and the Golden fries crispy red package container to the bright orange rectangular tray using both arms.",
+    "Pick up the yellow hamburg box and the Light yellow fries in red holder, then put them on the smooth plastic tray",
+    "Lift the rectangular hamburg box and the Small red box fries inside, position them on the rectangular tray",
+    "Place the medium-sized yellow hamburg package and the Palm-sized red fries container together onto the orange tray with smooth surface.",
+    "Using dual arms, lift the white and yellow printed hamburg holder and the Small red box fries inside and drop them on the orange tray.",
+    "Pick up the white lid with yellow bottom hamburg box, then the Palm-sized red fries container, and place them onto the orange tray with smooth surface.",
+    "Transfer the bright yellow hamburg box with logo and the Small red box fries inside to the bright orange tray for serving with both arms",
+    "Grab the medium-sized yellow hamburg package, then the Potato fries packaged in red carton, and set them on the plastic tray for holding items.",
+    "Grab the rectangular hamburg box, pick the Rectangular red carton holding fries, then set them on the rectangular tray",
+    "Pick up the yellow box for hamburg, grab the French fries in red packaging, place them on the bright orange tray for serving",
+    "Using both arms, set the white lid with yellow bottom hamburg box and the Small red box fries inside onto the bright orange rectangular tray.",
+    "Position the white and yellow printed hamburg holder and the Golden fries sticks in red carton on the medium-sized plastic tray with both arms.",
+    "Take the white lid with yellow bottom hamburg box and the Light yellow fries in red holder to the medium-sized plastic tray and set them there.",
+    "With dual arms, move the foldable hamburg cardboard box and the Red fries box onto the medium bright orange tray.",
+    "Place the bright yellow hamburg box with logo and the Red fries box onto the medium bright orange tray after picking them up.",
+    "Use both arms to transfer the white and yellow printed hamburg holder and the French fries in red packaging to the plastic tray for holding items.",
+    "Pick up the yellow box for hamburg and the Rectangular red carton holding fries one by one and place on the orange tray with smooth surface.",
+    "Use dual arms to grab the smooth yellow hamburg packaging and the Palm-sized red fries container and set them on the plastic tray for holding items.",
+    "Move the hamburg box with foldable top and the Red fries box with dual arms to the bright orange tray with glossy finish.",
+    "Lift the yellow box for hamburg, lift the Handheld fries pack bright red color, then set both on the medium-sized plastic tray.",
+    "Grab the yellow box for hamburg and the French fries in red packaging and position them on the plastic tray with shiny texture.",
+    "Pick the hamburg box with foldable top and the Handheld fries pack bright red color, and set them on the smooth plastic tray.",
+    "Pick the hamburg box with foldable top, the Potato fries packaged in red carton, and place them on the smooth plastic tray using both arms.",
+    "Use both arms to move the medium-sized yellow hamburg package and the Palm-sized red fries container to the smooth plastic tray.",
+    "Grab the medium-sized yellow hamburg package, grab the Rectangular red carton holding fries, and set both onto the rectangular tray.",
+    "Pick up the rectangular hamburg box and the Red fries box, then put both on the bright orange tray with glossy finish.",
+    "Grab the white and yellow printed hamburg holder and the Golden fries sticks in red carton, use both arms to set on the bright orange rectangular tray.",
+    "Place the yellow box for hamburg and the Small red box fries inside on the orange tray with smooth surface after picking them up.",
+    "Set the yellow box for hamburg and the Small red box fries inside down on the rectangular tray after picking them.",
+    "Take the medium-sized yellow hamburg package and the Open-top red box filled with fries with both arms and set on the plastic tray with shiny texture.",
+    "Take the white lid with yellow bottom hamburg box, take the Golden fries sticks in red carton, and place them onto the medium-sized plastic tray.",
+    "Move the white lid with yellow bottom hamburg box and the Red fries box to the bright orange tray for serving with both arms",
+    "Take the medium-sized yellow hamburg package and the Golden fries sticks in red carton, place them onto the orange tray.",
+    "Move the hamburg box with foldable top and the Golden fries sticks in red carton onto the orange tray with both arms.",
+    "With two arms, pick the smooth yellow hamburg packaging and the Bright red box with fries inside for the plastic tray with shiny texture.",
+    "Using dual arms, move the white and yellow printed hamburg holder and the Small red box fries inside onto the smooth plastic tray.",
+    "Grab the yellow hamburg box with white accents with one arm and the French fries in red packaging with the other for the rectangular tray.",
+    "Use dual arms to move the yellow hamburg box and the Open-top red box filled with fries onto the smooth plastic tray",
+    "Place both the medium-sized yellow hamburg package and the Red fries box on the orange tray with smooth surface after grabbing them with both arms.",
+    "Put the white and yellow printed hamburg holder and the Rectangular red carton holding fries on the bright orange rectangular tray using both arms",
+    "Lift the yellow hamburg box with white accents and the Light yellow fries in red holder and position them on the smooth glossy orange medium tray.",
+    "Place the smooth yellow hamburg packaging and the Golden fries sticks in red carton onto the bright orange tray with glossy finish using dual arms",
+    "Pick the white lid with yellow bottom hamburg box, then the Rectangular red carton holding fries, and place them on the bright orange tray for serving.",
+    "Use both arms to move the rectangular hamburg box and the Golden fries crispy red package container to the smooth plastic tray.",
+    "Lift the yellow box for hamburg and the Potato fries packaged in red carton, placing them neatly on the plastic tray with shiny texture.",
+    "Set the yellow hamburg box and the Potato fries packaged in red carton on the bright orange tray for serving using two arms.",
+    "Using both arms, pick the white and yellow printed hamburg holder and the Light yellow fries in red holder and drop them on the rectangular tray.",
+    "Using both arms, grab the yellow box for hamburg and the Small red box fries inside for the bright orange tray with glossy finish.",
+    "Grab the medium-sized box with hamburg design and the Palm-sized red fries container, then put them on the smooth glossy orange medium tray.",
+    "Use dual arms to place the medium-sized box with hamburg design and the Red fries box onto the smooth plastic tray",
+    "Move the medium-sized yellow hamburg package and the Rectangular red carton holding fries to the bright orange tray for serving using both arms.",
+    "Pick up the white lid with yellow bottom hamburg box and the Handheld fries pack bright red color, then put them on the plastic tray with shiny texture",
+    "Lift the foldable hamburg cardboard box and the Golden fries sticks in red carton, position them on the smooth glossy orange medium tray",
+    "Place the hamburg box with foldable top and the Bright red box with fries inside together onto the smooth glossy orange medium tray.",
+    "Using dual arms, lift the smooth yellow hamburg packaging and the Golden fries crispy red package container and drop them on the bright orange rectangular tray.",
+    "Pick up the medium-sized yellow hamburg package, then the Red fries box, and place them onto the plastic tray with shiny texture.",
+    "Transfer the yellow hamburg box and the Light yellow fries in red holder to the orange tray with both arms",
+    "Grab the yellow hamburg box, then the Golden fries sticks in red carton, and set them on the bright orange tray with glossy finish.",
+    "Grab the foldable hamburg cardboard box, pick the Golden fries crispy red package container, then set them on the medium bright orange tray",
+    "Pick up the foldable hamburg cardboard box, grab the Palm-sized red fries container, place them on the orange tray",
+    "Using both arms, set the smooth yellow hamburg packaging and the Potato fries packaged in red carton onto the plastic tray with shiny texture.",
+    "Position the hamburg box with foldable top and the Open-top red box filled with fries on the bright orange rectangular tray with both arms.",
+    "Take the yellow hamburg box with white accents and the Golden fries crispy red package container to the rectangular tray and set them there.",
+    "With dual arms, move the hamburg box with foldable top and the Handheld fries pack bright red color onto the bright orange tray with glossy finish.",
+    "Place the medium-sized yellow hamburg package and the Small red box fries inside onto the medium-sized plastic tray after picking them up.",
+    "Use both arms to transfer the white lid with yellow bottom hamburg box and the Bright red box with fries inside to the plastic tray with shiny texture.",
+    "Pick up the bright yellow hamburg box with logo and the Small red box fries inside one by one and place on the bright orange rectangular tray.",
+    "Use dual arms to grab the yellow hamburg box and the Palm-sized red fries container and set them on the smooth glossy orange medium tray.",
+    "Move the hamburg box with foldable top and the Open-top red box filled with fries with dual arms to the smooth glossy orange medium tray.",
+    "Lift the rectangular hamburg box, lift the Potato fries packaged in red carton, then set both on the bright orange tray for serving.",
+    "Grab the white and yellow printed hamburg holder and the Rectangular red carton holding fries and position them on the smooth glossy orange medium tray.",
+    "Pick the medium-sized yellow hamburg package and the Handheld fries pack bright red color, and set them on the medium-sized plastic tray.",
+    "Pick the foldable hamburg cardboard box, the French fries in red packaging, and place them on the smooth glossy orange medium tray using both arms.",
+    "Use both arms to move the white and yellow printed hamburg holder and the Potato fries packaged in red carton to the plastic tray with shiny texture.",
+    "Grab the foldable hamburg cardboard box, grab the Red fries box, and set both onto the rectangular tray.",
+    "Pick up the smooth yellow hamburg packaging and the Palm-sized red fries container, then put both on the smooth plastic tray.",
+    "Grab the bright yellow hamburg box with logo and the Golden fries sticks in red carton, use both arms to set on the orange tray with smooth surface.",
+    "Place the yellow hamburg box and the Bright red box with fries inside on the orange tray with smooth surface after picking them up.",
+    "Set the hamburg box with foldable top and the Potato fries packaged in red carton down on the medium bright orange tray after picking them.",
+    "Take the smooth yellow hamburg packaging and the Potato fries packaged in red carton with both arms and set on the orange tray with smooth surface.",
+    "Take the hamburg box with foldable top, take the Golden fries crispy red package container, and place them onto the bright orange tray with glossy finish.",
+    "Move the yellow hamburg box with white accents and the Bright red box with fries inside to the orange tray with smooth surface with both arms",
+    "Take the foldable hamburg cardboard box and the Rectangular red carton holding fries, place them onto the plastic tray for holding items.",
+    "Move the yellow hamburg box and the Red fries box onto the plastic tray with shiny texture with both arms.",
+    "With two arms, pick the foldable hamburg cardboard box and the Potato fries packaged in red carton for the bright orange tray with glossy finish.",
+    "Using dual arms, move the medium-sized yellow hamburg package and the Red fries box onto the medium bright orange tray.",
+    "Grab the bright yellow hamburg box with logo with one arm and the Light yellow fries in red holder with the other for the rectangular tray.",
+    "Use dual arms to move the bright yellow hamburg box with logo and the Palm-sized red fries container onto the smooth glossy orange medium tray",
+    "Place both the yellow hamburg box with white accents and the Light yellow fries in red holder on the plastic tray for holding items after grabbing them with both arms.",
+    "Put the hamburg box with foldable top and the Open-top red box filled with fries on the medium bright orange tray using both arms",
+    "Lift the yellow hamburg box with white accents and the French fries in red packaging and position them on the medium-sized plastic tray.",
+    "Place the bright yellow hamburg box with logo and the Light yellow fries in red holder onto the rectangular tray using dual arms",
+    "Pick the smooth yellow hamburg packaging, then the Golden fries crispy red package container, and place them on the rectangular tray.",
+    "Use both arms to move the smooth yellow hamburg packaging and the Red fries box to the bright orange rectangular tray."
+  ],
+  "unseen": [
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the medium-sized tray with rounded corners.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the rectangular tray with rounded edges.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the rectangular bright orange serving tray",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the rectangular bright orange serving tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the rectangular bright orange serving tray",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the Golden fries in red carton box on the medium-sized tray with rounded corners.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the rectangular tray with rounded edges",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium-sized tray with rounded corners.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the medium-sized tray with rounded corners.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the rectangular tray with rounded edges",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the rectangular tray with rounded edges.",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the rectangular bright orange serving tray",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the rectangular bright orange serving tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the rectangular tray with rounded edges.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the rectangular bright orange serving tray",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the rectangular tray with rounded edges.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the rectangular bright orange serving tray",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium-sized tray with rounded corners.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the rectangular tray with rounded edges",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the rectangular tray with rounded edges.",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the rectangular tray with rounded edges."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001021.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the easy-to-carry hamburg box and the McDonald's logo on red fries box to the tray for holding things and set them there.",
+    "Take the hamburg box with rounded edges and the bright red fries holder with both arms and set on the flat tray with smooth surface.",
+    "Use both arms to move the yellow bottom hamburg box and the red box with golden sticks to the medium-sized dark brown tray.",
+    "Set the yellow and green hamburg holder and the golden fries in red packaging on the flat tray with smooth surface using two arms.",
+    "Grab the rectangular hamburg container with smooth finish and the red box with golden sticks, then put them on the brown tray.",
+    "Use both arms to transfer the rectangular hamburg box and the McDonald's fries bag to the flat brown tray with raised edges.",
+    "Use dual arms to place the yellow bottom hamburg box and the rectangular red fries packet onto the flat tray with smooth surface",
+    "With dual arms, move the rectangular hamburg box and the red box with golden sticks onto the flat brown tray with raised edges.",
+    "Grab the yellow and green hamburg holder and the golden fries in red packaging, use both arms to set on the brown tray.",
+    "Move the small hamburg box and the crispy fries in hand-sized pouch onto the rectangular tray with both arms.",
+    "Pick up the small hamburg box and the crispy fries in hand-sized pouch, then put both on the tray with slightly raised edges.",
+    "Pick up the rectangular hamburg box and the McDonald's logo on red fries box one by one and place on the rectangular plastic tray.",
+    "With two arms, pick the green top hamburg box and the rectangular red fries packet for the brown tray with rim.",
+    "Lift the hamburg box with rounded edges and the crispy fries in hand-sized pouch and position them on the medium-sized dark brown tray.",
+    "Transfer the green top hamburg box and the crispy fries in hand-sized pouch to the tray for holding things with both arms",
+    "Grab the box with green hamburg lid, grab the McDonald's fries bag, and set both onto the brown tray with rim.",
+    "Lift the hamburg box with lid and the red fries packet, placing them neatly on the flat brown tray with raised edges.",
+    "Use dual arms to move the yellow bottom hamburg box and the McDonald's logo on red fries box onto the smooth plastic tray",
+    "Grab the hamburg box with rounded edges, pick the golden fries in red packaging, then set them on the tray for holding things",
+    "Place the box with green hamburg lid and the McDonald's logo on red fries box onto the tray for holding things after picking them up.",
+    "Pick up the small hamburg box and the McDonald's fries bag, then put them on the tray with slightly raised edges",
+    "Position the easy-to-carry hamburg box and the red box with golden sticks on the smooth plastic tray with both arms.",
+    "Lift the yellow bottom hamburg box, lift the red box with golden sticks, then set both on the brown tray with rim.",
+    "Move the green and yellow hamburg container and the McDonald's fries bag with dual arms to the flat brown tray with raised edges.",
+    "Pick up the rectangular hamburg container with smooth finish, then the red container with yellow fries, and place them onto the tray with slightly raised edges.",
+    "Place the hamburg box with lid and the McDonald's logo on red fries box together onto the medium dark brown tray.",
+    "Place both the box with green hamburg lid and the McDonald's logo on red fries box on the tray with slightly raised edges after grabbing them with both arms.",
+    "Using both arms, grab the green and yellow hamburg container and the red box with golden sticks for the rectangular plastic tray.",
+    "Place the rectangular hamburg box and the thin crispy potato fries onto the flat brown tray with raised edges using dual arms",
+    "Grab the yellow bottom hamburg box and the crispy fries in hand-sized pouch and position them on the dark rectangular serving tray.",
+    "Lift the box with green hamburg lid and the crispy fries in hand-sized pouch, position them on the medium-sized dark brown tray",
+    "Using dual arms, lift the smooth hamburg box and the thin crispy potato fries and drop them on the smooth plastic tray.",
+    "Pick the hamburg box with lid, the golden fries in red packaging, and place them on the flat tray with smooth surface using both arms.",
+    "Pick the easy-to-carry hamburg box, then the red container with yellow fries, and place them on the flat tray with smooth surface.",
+    "Move the rectangular hamburg box and the McDonald's logo on red fries box to the dark rectangular serving tray with both arms",
+    "Grab the rectangular hamburg container with smooth finish with one arm and the rectangular red fries packet with the other for the brown tray.",
+    "Take the smooth hamburg box and the crispy fries in hand-sized pouch, place them onto the flat tray with smooth surface.",
+    "Using dual arms, move the hamburg box with lid and the McDonald's fries bag onto the rectangular plastic tray.",
+    "Place the small hamburg box and the small red fries packet on the medium-sized dark brown tray after picking them up.",
+    "Use dual arms to grab the green and yellow hamburg container and the rectangular red fries packet and set them on the medium dark brown tray.",
+    "Using both arms, set the box with green hamburg lid and the golden fries in red packaging onto the rectangular plastic tray.",
+    "Use both arms to move the yellow bottom hamburg box and the thin crispy potato fries to the medium dark brown tray.",
+    "Pick up the green top hamburg box, grab the red fries packet, place them on the dark rectangular serving tray",
+    "Move the small hamburg box and the crispy fries in hand-sized pouch to the brown tray with rim using both arms.",
+    "Pick the hamburg box with lid and the thin crispy potato fries, and set them on the rectangular tray.",
+    "Using both arms, pick the rectangular hamburg container with smooth finish and the golden fries in red packaging and drop them on the rectangular tray.",
+    "Set the yellow and green hamburg holder and the red container with yellow fries down on the dark rectangular serving tray after picking them.",
+    "Put the smooth hamburg box and the bright red fries holder on the medium-sized dark brown tray using both arms",
+    "Take the green top hamburg box, take the red box with golden sticks, and place them onto the brown tray.",
+    "Grab the rectangular hamburg box, then the golden fries in smooth red pouch, and set them on the dark rectangular serving tray.",
+    "Take the easy-to-carry hamburg box and the rectangular red fries packet to the brown tray and set them there.",
+    "Take the yellow bottom hamburg box and the red box with golden sticks with both arms and set on the flat brown tray with raised edges.",
+    "Use both arms to move the green and yellow hamburg container and the red fries packet to the smooth plastic tray.",
+    "Set the easy-to-carry hamburg box and the red container with yellow fries on the brown tray using two arms.",
+    "Grab the smooth hamburg box and the red box with golden sticks, then put them on the tray with slightly raised edges.",
+    "Use both arms to transfer the yellow bottom hamburg box and the red box with golden sticks to the flat tray with smooth surface.",
+    "Use dual arms to place the green and yellow hamburg container and the McDonald's fries bag onto the brown tray",
+    "With dual arms, move the hamburg box with lid and the red box with golden sticks onto the dark rectangular serving tray.",
+    "Grab the box with green hamburg lid and the red box with golden sticks, use both arms to set on the medium dark brown tray.",
+    "Move the box with green hamburg lid and the golden fries in red packaging onto the tray for holding things with both arms.",
+    "Pick up the rectangular hamburg container with smooth finish and the small red fries packet, then put both on the dark rectangular serving tray.",
+    "Pick up the small hamburg box and the small red fries packet one by one and place on the brown tray with rim.",
+    "With two arms, pick the hamburg box with lid and the thin crispy potato fries for the medium-sized dark brown tray.",
+    "Lift the rectangular hamburg box and the McDonald's fries bag and position them on the medium-sized dark brown tray.",
+    "Transfer the box with green hamburg lid and the thin crispy potato fries to the dark rectangular serving tray with both arms",
+    "Grab the hamburg box with lid, grab the golden fries in red packaging, and set both onto the dark rectangular serving tray.",
+    "Lift the hamburg box with rounded edges and the rectangular red fries packet, placing them neatly on the smooth plastic tray.",
+    "Use dual arms to move the yellow bottom hamburg box and the McDonald's fries bag onto the tray with slightly raised edges",
+    "Grab the hamburg box with rounded edges, pick the red fries packet, then set them on the brown tray with rim",
+    "Place the rectangular hamburg box and the red box with golden sticks onto the tray with slightly raised edges after picking them up.",
+    "Pick up the box with green hamburg lid and the rectangular red fries packet, then put them on the smooth plastic tray",
+    "Position the box with green hamburg lid and the thin crispy potato fries on the tray for holding things with both arms.",
+    "Lift the smooth hamburg box, lift the small red fries packet, then set both on the brown tray.",
+    "Move the hamburg box with lid and the McDonald's logo on red fries box with dual arms to the dark rectangular serving tray.",
+    "Pick up the hamburg box with rounded edges, then the red fries packet, and place them onto the medium dark brown tray.",
+    "Place the yellow bottom hamburg box and the bright red fries holder together onto the flat brown tray with raised edges.",
+    "Place both the yellow bottom hamburg box and the rectangular red fries packet on the rectangular tray after grabbing them with both arms.",
+    "Using both arms, grab the box with green hamburg lid and the golden fries in red packaging for the rectangular tray.",
+    "Place the yellow and green hamburg holder and the small red fries packet onto the tray with slightly raised edges using dual arms",
+    "Grab the yellow and green hamburg holder and the golden fries in smooth red pouch and position them on the flat brown tray with raised edges.",
+    "Lift the rectangular hamburg box and the rectangular red fries packet, position them on the flat tray with smooth surface",
+    "Using dual arms, lift the box with green hamburg lid and the thin crispy potato fries and drop them on the smooth plastic tray.",
+    "Pick the yellow bottom hamburg box, the McDonald's logo on red fries box, and place them on the flat tray with smooth surface using both arms.",
+    "Pick the green top hamburg box, then the McDonald's fries bag, and place them on the smooth plastic tray.",
+    "Move the hamburg box with rounded edges and the McDonald's fries bag to the tray with slightly raised edges with both arms",
+    "Grab the rectangular hamburg box with one arm and the bright red fries holder with the other for the tray for holding things.",
+    "Take the yellow bottom hamburg box and the red box with golden sticks, place them onto the tray for holding things.",
+    "Using dual arms, move the green and yellow hamburg container and the red box with golden sticks onto the smooth plastic tray.",
+    "Place the rectangular hamburg container with smooth finish and the golden fries in smooth red pouch on the smooth plastic tray after picking them up.",
+    "Use dual arms to grab the hamburg box with rounded edges and the golden fries in smooth red pouch and set them on the smooth plastic tray.",
+    "Using both arms, set the rectangular hamburg container with smooth finish and the thin crispy potato fries onto the dark rectangular serving tray.",
+    "Use both arms to move the hamburg box with lid and the red box with golden sticks to the flat tray with smooth surface.",
+    "Pick up the yellow bottom hamburg box, grab the small red fries packet, place them on the tray with slightly raised edges",
+    "Move the yellow and green hamburg holder and the McDonald's logo on red fries box to the smooth plastic tray using both arms.",
+    "Pick the rectangular hamburg container with smooth finish and the small red fries packet, and set them on the tray with slightly raised edges.",
+    "Using both arms, pick the box with green hamburg lid and the golden fries in red packaging and drop them on the flat tray with smooth surface.",
+    "Set the rectangular hamburg box and the McDonald's fries bag down on the rectangular tray after picking them.",
+    "Put the green top hamburg box and the red box with golden sticks on the dark rectangular serving tray using both arms",
+    "Take the yellow bottom hamburg box, take the bright red fries holder, and place them onto the flat brown tray with raised edges.",
+    "Grab the rectangular hamburg box, then the crispy fries in hand-sized pouch, and set them on the rectangular tray."
+  ],
+  "unseen": [
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Place the stackable hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the flat brown serving tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the flat brown serving tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the medium flat tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the medium flat tray",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the medium flat tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Place the compact hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the medium flat tray",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Place the compact hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the tray for carrying items.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the medium flat tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the flat brown serving tray",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the tray for carrying items.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the medium flat tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the medium flat tray",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the medium flat tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001025.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the decorative rounded hamburg, then the McDonald's logo on red fries box, and place them on the medium-sized plastic tray.",
+    "Pick up the yellow marked white and orange hamburg, then the crispy fries in hand-sized pouch, and place them onto the medium-sized plastic tray.",
+    "Put the irregular shaped hamburg and the McDonald's logo on red fries box on the rectangular tray using both arms",
+    "Place the orange hamburg with white underside and the McDonald's logo on red fries box onto the orange tray using dual arms",
+    "Grab the orange-white hamburg with yellow highlight and the McDonald's logo on red fries box, use both arms to set on the plastic tray with shiny texture.",
+    "Lift the orange-white hamburg with yellow highlight, lift the golden fries in smooth red pouch, then set both on the smooth plastic tray.",
+    "Take the white part with orange edges hamburg and the thin crispy potato fries with both arms and set on the bright orange tray with glossy finish.",
+    "Using both arms, pick the orange hamburg with white underside and the bright red fries holder and drop them on the orange tray with smooth surface.",
+    "Using dual arms, lift the irregular shaped hamburg and the bright red fries holder and drop them on the plastic tray for holding items.",
+    "Place both the smooth orange and white hamburg and the McDonald's logo on red fries box on the plastic tray for holding items after grabbing them with both arms.",
+    "Place the hamburg with yellow mark and the small red fries packet on the smooth plastic tray after picking them up.",
+    "Grab the orange-white hamburg with yellow highlight and the red container with yellow fries, then put them on the bright orange rectangular tray.",
+    "Pick up the hand-sized orange hamburg and the thin crispy potato fries, then put them on the plastic tray for holding items",
+    "Move the irregular shaped hamburg and the golden fries in smooth red pouch to the medium bright orange tray using both arms.",
+    "Use dual arms to move the small rounded hamburg and the red box with golden sticks onto the orange tray",
+    "With two arms, pick the irregular shaped hamburg and the McDonald's logo on red fries box for the medium bright orange tray.",
+    "Lift the hamburg with yellow mark and the thin crispy potato fries, placing them neatly on the bright orange tray for serving.",
+    "Grab the yellow marked white and orange hamburg and the thin crispy potato fries and position them on the bright orange tray with glossy finish.",
+    "Place the orange hamburg with white underside and the golden fries in smooth red pouch together onto the orange tray with smooth surface.",
+    "Using both arms, grab the orange hamburg and the red box with golden sticks for the plastic tray with shiny texture.",
+    "Position the hamburg with yellow mark and the small red fries packet on the smooth plastic tray with both arms.",
+    "Lift the orange hamburg and the red box with golden sticks and position them on the plastic tray with shiny texture.",
+    "Pick the white part with orange edges hamburg, the golden fries in red packaging, and place them on the smooth glossy orange medium tray using both arms.",
+    "Pick up the smooth orange and white hamburg and the rectangular red fries packet one by one and place on the medium-sized plastic tray.",
+    "Grab the orange hamburg, pick the rectangular red fries packet, then set them on the rectangular tray",
+    "Using dual arms, move the hand-sized orange hamburg and the golden fries in smooth red pouch onto the smooth glossy orange medium tray.",
+    "Move the smooth orange and white hamburg and the McDonald's logo on red fries box onto the orange tray with smooth surface with both arms.",
+    "Pick up the hamburg with yellow mark, grab the golden fries in red packaging, place them on the rectangular tray",
+    "Set the yellow marked white and orange hamburg and the golden fries in smooth red pouch on the plastic tray with shiny texture using two arms.",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the McDonald's logo on red fries box and set them on the medium bright orange tray.",
+    "Use both arms to transfer the hand-sized orange hamburg and the red fries packet to the bright orange tray for serving.",
+    "Take the orange-white hamburg with yellow highlight and the bright red fries holder, place them onto the orange tray.",
+    "Take the hand-sized orange hamburg and the thin crispy potato fries to the orange tray and set them there.",
+    "Pick up the orange hamburg and the McDonald's fries bag, then put both on the smooth plastic tray.",
+    "Take the irregular shaped hamburg, take the golden fries in red packaging, and place them onto the smooth glossy orange medium tray.",
+    "Transfer the white part with orange edges hamburg and the golden fries in red packaging to the bright orange tray with glossy finish with both arms",
+    "Pick the decorative rounded hamburg and the rectangular red fries packet, and set them on the orange tray.",
+    "Use both arms to move the hand-sized orange hamburg and the red box with golden sticks to the bright orange rectangular tray.",
+    "Grab the smooth orange and white hamburg with one arm and the thin crispy potato fries with the other for the medium bright orange tray.",
+    "Grab the irregular shaped hamburg, grab the rectangular red fries packet, and set both onto the bright orange tray with glossy finish.",
+    "Use both arms to move the yellow marked white and orange hamburg and the red fries packet to the smooth plastic tray.",
+    "Set the white part with orange edges hamburg and the golden fries in red packaging down on the plastic tray with shiny texture after picking them.",
+    "Move the hamburg with yellow mark and the golden fries in smooth red pouch with dual arms to the bright orange rectangular tray.",
+    "Move the smooth orange and white hamburg and the golden fries in smooth red pouch to the bright orange rectangular tray with both arms",
+    "Grab the decorative rounded hamburg, then the red container with yellow fries, and set them on the plastic tray for holding items.",
+    "Using both arms, set the decorative rounded hamburg and the McDonald's fries bag onto the orange tray.",
+    "Place the irregular shaped hamburg and the McDonald's logo on red fries box onto the bright orange rectangular tray after picking them up.",
+    "Lift the small rounded hamburg and the red fries packet, position them on the rectangular tray",
+    "With dual arms, move the orange hamburg and the McDonald's logo on red fries box onto the plastic tray for holding items.",
+    "Use dual arms to place the orange hamburg and the red fries packet onto the bright orange rectangular tray",
+    "Pick the rounded hamburg with painted details, then the thin crispy potato fries, and place them on the orange tray with smooth surface.",
+    "Pick up the irregular shaped hamburg, then the McDonald's logo on red fries box, and place them onto the orange tray.",
+    "Put the irregular shaped hamburg and the crispy fries in hand-sized pouch on the bright orange tray for serving using both arms",
+    "Place the small rounded hamburg and the golden fries in smooth red pouch onto the rectangular tray using dual arms",
+    "Grab the hand-sized orange hamburg and the small red fries packet, use both arms to set on the orange tray.",
+    "Lift the small rounded hamburg, lift the thin crispy potato fries, then set both on the orange tray.",
+    "Take the orange hamburg with white underside and the red box with golden sticks with both arms and set on the bright orange rectangular tray.",
+    "Using both arms, pick the irregular shaped hamburg and the crispy fries in hand-sized pouch and drop them on the plastic tray with shiny texture.",
+    "Using dual arms, lift the orange hamburg and the McDonald's fries bag and drop them on the bright orange tray for serving.",
+    "Place both the rounded hamburg with painted details and the McDonald's fries bag on the smooth glossy orange medium tray after grabbing them with both arms.",
+    "Place the rounded hamburg with painted details and the golden fries in smooth red pouch on the plastic tray for holding items after picking them up.",
+    "Grab the hamburg with yellow mark and the red container with yellow fries, then put them on the medium bright orange tray.",
+    "Pick up the small rounded hamburg and the rectangular red fries packet, then put them on the medium bright orange tray",
+    "Move the hamburg with yellow mark and the red box with golden sticks to the bright orange tray with glossy finish using both arms.",
+    "Use dual arms to move the hamburg with yellow mark and the red box with golden sticks onto the plastic tray with shiny texture",
+    "With two arms, pick the decorative rounded hamburg and the McDonald's fries bag for the rectangular tray.",
+    "Lift the orange hamburg and the crispy fries in hand-sized pouch, placing them neatly on the medium bright orange tray.",
+    "Grab the small rounded hamburg and the red box with golden sticks and position them on the bright orange tray for serving.",
+    "Place the hand-sized orange hamburg and the rectangular red fries packet together onto the rectangular tray.",
+    "Using both arms, grab the hand-sized orange hamburg and the red fries packet for the smooth plastic tray.",
+    "Position the hamburg with yellow mark and the golden fries in smooth red pouch on the medium-sized plastic tray with both arms.",
+    "Lift the orange-white hamburg with yellow highlight and the rectangular red fries packet and position them on the bright orange tray with glossy finish.",
+    "Pick the decorative rounded hamburg, the golden fries in smooth red pouch, and place them on the orange tray using both arms.",
+    "Pick up the yellow marked white and orange hamburg and the red box with golden sticks one by one and place on the bright orange tray with glossy finish.",
+    "Grab the orange hamburg with white underside, pick the red box with golden sticks, then set them on the smooth plastic tray",
+    "Using dual arms, move the orange hamburg with white underside and the red container with yellow fries onto the smooth plastic tray.",
+    "Move the hamburg with yellow mark and the thin crispy potato fries onto the orange tray with both arms.",
+    "Pick up the orange hamburg, grab the golden fries in smooth red pouch, place them on the smooth glossy orange medium tray",
+    "Set the hamburg with yellow mark and the red fries packet on the rectangular tray using two arms.",
+    "Use dual arms to grab the orange-white hamburg with yellow highlight and the McDonald's fries bag and set them on the rectangular tray.",
+    "Use both arms to transfer the hand-sized orange hamburg and the McDonald's logo on red fries box to the bright orange rectangular tray.",
+    "Take the yellow marked white and orange hamburg and the rectangular red fries packet, place them onto the bright orange tray for serving.",
+    "Take the hamburg with yellow mark and the small red fries packet to the bright orange tray for serving and set them there.",
+    "Pick up the smooth orange and white hamburg and the rectangular red fries packet, then put both on the orange tray with smooth surface.",
+    "Take the small rounded hamburg, take the red box with golden sticks, and place them onto the medium-sized plastic tray.",
+    "Transfer the orange-white hamburg with yellow highlight and the crispy fries in hand-sized pouch to the smooth plastic tray with both arms",
+    "Pick the small rounded hamburg and the red container with yellow fries, and set them on the medium-sized plastic tray.",
+    "Use both arms to move the irregular shaped hamburg and the golden fries in red packaging to the bright orange rectangular tray.",
+    "Grab the orange-white hamburg with yellow highlight with one arm and the small red fries packet with the other for the plastic tray for holding items.",
+    "Grab the irregular shaped hamburg, grab the rectangular red fries packet, and set both onto the medium-sized plastic tray.",
+    "Use both arms to move the orange-white hamburg with yellow highlight and the small red fries packet to the medium bright orange tray.",
+    "Set the small rounded hamburg and the crispy fries in hand-sized pouch down on the plastic tray with shiny texture after picking them.",
+    "Move the rounded hamburg with painted details and the small red fries packet with dual arms to the bright orange rectangular tray.",
+    "Move the white part with orange edges hamburg and the McDonald's fries bag to the bright orange tray with glossy finish with both arms",
+    "Grab the white part with orange edges hamburg, then the crispy fries in hand-sized pouch, and set them on the medium bright orange tray.",
+    "Using both arms, set the orange-white hamburg with yellow highlight and the crispy fries in hand-sized pouch onto the bright orange tray with glossy finish.",
+    "Place the small rounded hamburg and the bright red fries holder onto the bright orange tray for serving after picking them up.",
+    "Lift the smooth orange and white hamburg and the rectangular red fries packet, position them on the plastic tray with shiny texture",
+    "With dual arms, move the irregular shaped hamburg and the thin crispy potato fries onto the orange tray.",
+    "Use dual arms to place the rounded hamburg with painted details and the rectangular red fries packet onto the bright orange rectangular tray"
+  ],
+  "unseen": [
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with curved surfaces and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the hamburg with soft texture and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with soft texture and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with soft texture and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the hamburg with white and orange and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with soft texture and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the hamburg with white and orange and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white and orange and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white and orange and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the hamburg with white and orange and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with white and orange and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white and orange and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the hamburg with curved surfaces and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with soft texture and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with curved surfaces and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the hamburg with soft texture and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Grab the hamburg with white and orange and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with soft texture and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with soft texture and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Pick the hamburg with white and orange and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the hamburg with soft texture and the hand-sized fries container on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white and orange and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with curved surfaces and the golden crispy fries inside red box onto the rectangular bright orange serving tray.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the golden fries in red holder together, setting them on the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg with curved surfaces and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with white and orange and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder together, setting them on the rectangular tray with rounded edges.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the golden fries in red holder, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the hamburg with soft texture and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Place the hamburg with curved surfaces and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the hamburg with white and orange and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white and orange and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001027.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hamburg box with rounded edges and the Open-top red box filled with fries, placing them neatly on the orange tray.",
+    "Take the easy-to-carry hamburg box, take the Potato fries packaged in red carton, and place them onto the smooth plastic tray.",
+    "Transfer the smooth hamburg box and the French fries in red packaging to the bright orange tray with glossy finish with both arms",
+    "With dual arms, move the easy-to-carry hamburg box and the Red fries box onto the medium-sized plastic tray.",
+    "Take the hamburg box with lid and the Red fries box with both arms and set on the orange tray with smooth surface.",
+    "Grab the hamburg box with lid with one arm and the Bright red box with fries inside with the other for the medium bright orange tray.",
+    "Using both arms, pick the yellow bottom hamburg box and the Red fries box and drop them on the rectangular tray.",
+    "Grab the box with green hamburg lid and the Golden fries sticks in red carton, then put them on the plastic tray for holding items.",
+    "Place the green and yellow hamburg container and the French fries in red packaging on the plastic tray with shiny texture after picking them up.",
+    "Grab the hamburg box with rounded edges, grab the Golden fries sticks in red carton, and set both onto the smooth plastic tray.",
+    "Take the yellow bottom hamburg box and the Rectangular red carton holding fries to the plastic tray with shiny texture and set them there.",
+    "Pick up the yellow bottom hamburg box and the Handheld fries pack bright red color one by one and place on the orange tray with smooth surface.",
+    "Grab the hamburg box with rounded edges and the Golden fries crispy red package container, use both arms to set on the plastic tray with shiny texture.",
+    "Take the green and yellow hamburg container and the Golden fries crispy red package container, place them onto the orange tray.",
+    "Place the hamburg box with rounded edges and the French fries in red packaging onto the bright orange rectangular tray after picking them up.",
+    "Using both arms, grab the easy-to-carry hamburg box and the Rectangular red carton holding fries for the rectangular tray.",
+    "Pick the small hamburg box, then the Red fries box, and place them on the rectangular tray.",
+    "Using dual arms, move the easy-to-carry hamburg box and the Palm-sized red fries container onto the bright orange tray for serving.",
+    "Use both arms to move the small hamburg box and the Handheld fries pack bright red color to the plastic tray for holding items.",
+    "Use both arms to move the rectangular hamburg box and the Handheld fries pack bright red color to the smooth glossy orange medium tray.",
+    "Pick up the green and yellow hamburg container and the Open-top red box filled with fries, then put both on the medium-sized plastic tray.",
+    "Lift the green and yellow hamburg container, lift the Light yellow fries in red holder, then set both on the medium bright orange tray.",
+    "Set the green and yellow hamburg container and the Handheld fries pack bright red color on the smooth glossy orange medium tray using two arms.",
+    "Move the small hamburg box and the Red fries box to the medium bright orange tray using both arms.",
+    "Move the yellow and green hamburg holder and the Handheld fries pack bright red color to the bright orange tray with glossy finish with both arms",
+    "Lift the yellow and green hamburg holder and the French fries in red packaging and position them on the medium bright orange tray.",
+    "Pick the rectangular hamburg box, the Golden fries sticks in red carton, and place them on the smooth glossy orange medium tray using both arms.",
+    "Pick up the yellow and green hamburg holder and the Handheld fries pack bright red color, then put them on the plastic tray with shiny texture",
+    "Use both arms to transfer the green and yellow hamburg container and the Open-top red box filled with fries to the bright orange rectangular tray.",
+    "Place both the easy-to-carry hamburg box and the Potato fries packaged in red carton on the bright orange tray for serving after grabbing them with both arms.",
+    "Move the hamburg box with lid and the Golden fries sticks in red carton with dual arms to the medium bright orange tray.",
+    "Place the yellow and green hamburg holder and the Open-top red box filled with fries together onto the medium-sized plastic tray.",
+    "Using dual arms, lift the rectangular hamburg container with smooth finish and the Red fries box and drop them on the plastic tray with shiny texture.",
+    "Use dual arms to grab the small hamburg box and the Small red box fries inside and set them on the bright orange tray for serving.",
+    "Place the hamburg box with lid and the Open-top red box filled with fries onto the medium-sized plastic tray using dual arms",
+    "Pick the easy-to-carry hamburg box and the Light yellow fries in red holder, and set them on the plastic tray for holding items.",
+    "Grab the green top hamburg box and the Handheld fries pack bright red color and position them on the smooth plastic tray.",
+    "Pick up the rectangular hamburg box, grab the Handheld fries pack bright red color, place them on the orange tray with smooth surface",
+    "Put the hamburg box with rounded edges and the Handheld fries pack bright red color on the medium bright orange tray using both arms",
+    "Pick up the smooth hamburg box, then the Rectangular red carton holding fries, and place them onto the orange tray.",
+    "Position the hamburg box with lid and the Red fries box on the bright orange tray for serving with both arms.",
+    "Using both arms, set the smooth hamburg box and the Small red box fries inside onto the smooth glossy orange medium tray.",
+    "Move the green and yellow hamburg container and the Red fries box onto the medium-sized plastic tray with both arms.",
+    "With two arms, pick the rectangular hamburg container with smooth finish and the Small red box fries inside for the plastic tray with shiny texture.",
+    "Grab the hamburg box with lid, then the Rectangular red carton holding fries, and set them on the bright orange tray for serving.",
+    "Grab the yellow bottom hamburg box, pick the Open-top red box filled with fries, then set them on the plastic tray for holding items",
+    "Use dual arms to place the smooth hamburg box and the Small red box fries inside onto the medium-sized plastic tray",
+    "Use dual arms to move the green and yellow hamburg container and the Light yellow fries in red holder onto the medium-sized plastic tray",
+    "Lift the green and yellow hamburg container and the Handheld fries pack bright red color, position them on the plastic tray with shiny texture",
+    "Set the easy-to-carry hamburg box and the Red fries box down on the plastic tray with shiny texture after picking them.",
+    "Lift the rectangular hamburg box and the Palm-sized red fries container, placing them neatly on the orange tray with smooth surface.",
+    "Take the yellow bottom hamburg box, take the Rectangular red carton holding fries, and place them onto the bright orange rectangular tray.",
+    "Transfer the green top hamburg box and the Rectangular red carton holding fries to the rectangular tray with both arms",
+    "With dual arms, move the green top hamburg box and the Handheld fries pack bright red color onto the bright orange tray with glossy finish.",
+    "Take the green and yellow hamburg container and the Small red box fries inside with both arms and set on the smooth plastic tray.",
+    "Grab the green and yellow hamburg container with one arm and the Potato fries packaged in red carton with the other for the bright orange tray for serving.",
+    "Using both arms, pick the rectangular hamburg container with smooth finish and the Bright red box with fries inside and drop them on the bright orange rectangular tray.",
+    "Grab the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color, then put them on the bright orange tray with glossy finish.",
+    "Place the yellow bottom hamburg box and the Handheld fries pack bright red color on the plastic tray for holding items after picking them up.",
+    "Grab the green top hamburg box, grab the Palm-sized red fries container, and set both onto the smooth plastic tray.",
+    "Take the green and yellow hamburg container and the Light yellow fries in red holder to the bright orange tray with glossy finish and set them there.",
+    "Pick up the hamburg box with lid and the French fries in red packaging one by one and place on the orange tray with smooth surface.",
+    "Grab the rectangular hamburg box and the French fries in red packaging, use both arms to set on the orange tray.",
+    "Take the easy-to-carry hamburg box and the Handheld fries pack bright red color, place them onto the smooth glossy orange medium tray.",
+    "Place the green and yellow hamburg container and the Small red box fries inside onto the orange tray after picking them up.",
+    "Using both arms, grab the green top hamburg box and the Potato fries packaged in red carton for the medium-sized plastic tray.",
+    "Pick the hamburg box with rounded edges, then the Small red box fries inside, and place them on the plastic tray with shiny texture.",
+    "Using dual arms, move the box with green hamburg lid and the Small red box fries inside onto the medium-sized plastic tray.",
+    "Use both arms to move the yellow bottom hamburg box and the Open-top red box filled with fries to the bright orange rectangular tray.",
+    "Use both arms to move the hamburg box with rounded edges and the Red fries box to the smooth plastic tray.",
+    "Pick up the green and yellow hamburg container and the French fries in red packaging, then put both on the plastic tray with shiny texture.",
+    "Lift the green top hamburg box, lift the Red fries box, then set both on the plastic tray with shiny texture.",
+    "Set the easy-to-carry hamburg box and the Small red box fries inside on the smooth plastic tray using two arms.",
+    "Move the hamburg box with rounded edges and the Rectangular red carton holding fries to the bright orange tray for serving using both arms.",
+    "Move the smooth hamburg box and the Palm-sized red fries container to the rectangular tray with both arms",
+    "Lift the rectangular hamburg box and the Golden fries crispy red package container and position them on the orange tray with smooth surface.",
+    "Pick the rectangular hamburg box, the Rectangular red carton holding fries, and place them on the bright orange tray for serving using both arms.",
+    "Pick up the smooth hamburg box and the Bright red box with fries inside, then put them on the smooth plastic tray",
+    "Use both arms to transfer the smooth hamburg box and the Red fries box to the rectangular tray.",
+    "Place both the rectangular hamburg box and the Light yellow fries in red holder on the bright orange rectangular tray after grabbing them with both arms.",
+    "Move the smooth hamburg box and the Rectangular red carton holding fries with dual arms to the bright orange rectangular tray.",
+    "Place the box with green hamburg lid and the Rectangular red carton holding fries together onto the smooth plastic tray.",
+    "Using dual arms, lift the hamburg box with lid and the Bright red box with fries inside and drop them on the plastic tray for holding items.",
+    "Use dual arms to grab the box with green hamburg lid and the Handheld fries pack bright red color and set them on the orange tray.",
+    "Place the green top hamburg box and the Palm-sized red fries container onto the plastic tray for holding items using dual arms",
+    "Pick the yellow bottom hamburg box and the Bright red box with fries inside, and set them on the medium bright orange tray.",
+    "Grab the rectangular hamburg box and the Potato fries packaged in red carton and position them on the smooth glossy orange medium tray.",
+    "Pick up the hamburg box with rounded edges, grab the Handheld fries pack bright red color, place them on the plastic tray with shiny texture",
+    "Put the rectangular hamburg box and the Rectangular red carton holding fries on the orange tray using both arms",
+    "Pick up the yellow and green hamburg holder, then the Handheld fries pack bright red color, and place them onto the bright orange tray for serving.",
+    "Position the rectangular hamburg box and the Bright red box with fries inside on the bright orange rectangular tray with both arms.",
+    "Using both arms, set the yellow and green hamburg holder and the Potato fries packaged in red carton onto the orange tray.",
+    "Move the hamburg box with rounded edges and the Rectangular red carton holding fries onto the medium-sized plastic tray with both arms.",
+    "With two arms, pick the hamburg box with lid and the Rectangular red carton holding fries for the bright orange tray with glossy finish.",
+    "Grab the rectangular hamburg container with smooth finish, then the Light yellow fries in red holder, and set them on the smooth glossy orange medium tray.",
+    "Grab the easy-to-carry hamburg box, pick the Palm-sized red fries container, then set them on the plastic tray with shiny texture",
+    "Use dual arms to place the smooth hamburg box and the Light yellow fries in red holder onto the orange tray",
+    "Use dual arms to move the green and yellow hamburg container and the Golden fries sticks in red carton onto the bright orange tray for serving",
+    "Lift the easy-to-carry hamburg box and the Golden fries crispy red package container, position them on the bright orange tray for serving",
+    "Set the yellow and green hamburg holder and the French fries in red packaging down on the rectangular tray after picking them."
+  ],
+  "unseen": [
+    "Use both arms to grab the cardboard hamburg box and the Crispy potato fries with red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box and place them on the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box together, setting them on the rectangular bright orange serving tray.",
+    "Place the compact hamburg box and the Red carton box fries crispy golden onto the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the cardboard hamburg box and the Crispy potato fries with red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Golden fries in red carton box together, setting them on the medium-sized tray with rounded corners.",
+    "Place the compact hamburg box and the Red carton box fries crispy golden onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box and place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, place them on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box, then place on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Place the compact hamburg box and the Golden fries in red carton box onto the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the compact hamburg box and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the rectangular bright orange serving tray.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the compact hamburg box and the Red carton box fries crispy golden and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, place them on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the Red carton box fries crispy golden together, setting them on the rectangular bright orange serving tray.",
+    "Place the stackable hamburg box and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the cardboard hamburg box and the Red carton box fries crispy golden and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden and place them on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the medium-sized tray with rounded corners.",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the medium-sized tray with rounded corners.",
+    "Place the compact hamburg box and the Red carton box fries crispy golden onto the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the stackable hamburg box and the Crispy potato fries with red box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box, then place on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the Crispy potato fries with red box onto the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the stackable hamburg box and the Crispy potato fries with red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box and place them on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, place them on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to place the compact hamburg box and the Golden fries in red carton box on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the Red carton box fries crispy golden onto the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the stackable hamburg box and the Red carton box fries crispy golden and set them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden and place them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to place the stackable hamburg box and the Golden fries in red carton box on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the rectangular tray with rounded edges.",
+    "Place the stackable hamburg box and the Red carton box fries crispy golden onto the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the cardboard hamburg box and the Crispy potato fries with red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, place them on the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the Crispy potato fries with red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the medium-sized tray with rounded corners.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box, then set them on the rectangular bright orange serving tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001030.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, pick the foldable hamburg cardboard box and the Light yellow fries in red holder and drop them on the flat green rectangular tray.",
+    "Set the bright yellow hamburg box with logo and the Potato fries packaged in red carton down on the medium plastic tray after picking them.",
+    "Lift the bright yellow hamburg box with logo, lift the Rectangular red carton holding fries, then set both on the tray with rounded corners.",
+    "Grab the smooth yellow hamburg packaging and the Bright red box with fries inside, use both arms to set on the medium plastic tray.",
+    "Lift the white and yellow printed hamburg holder and the Light yellow fries in red holder and position them on the dark green serving tray.",
+    "Use dual arms to place the medium-sized box with hamburg design and the Bright red box with fries inside onto the plastic tray with curved edges",
+    "Pick the white and yellow printed hamburg holder, then the French fries in red packaging, and place them on the smooth texture green tray.",
+    "Grab the white lid with yellow bottom hamburg box, then the Potato fries packaged in red carton, and set them on the plastic tray with curved edges.",
+    "Use both arms to transfer the bright yellow hamburg box with logo and the Golden fries sticks in red carton to the rectangular green tray.",
+    "Take the yellow hamburg box with white accents, take the Open-top red box filled with fries, and place them onto the tray with rounded corners.",
+    "Place the rectangular hamburg box and the Rectangular red carton holding fries onto the dark green rectangular plastic tray using dual arms",
+    "Pick the rectangular hamburg box and the French fries in red packaging, and set them on the rectangular green tray.",
+    "Move the white and yellow printed hamburg holder and the Bright red box with fries inside to the single-piece dark green tray with both arms",
+    "Using both arms, set the white lid with yellow bottom hamburg box and the French fries in red packaging onto the rectangular green tray.",
+    "Pick the white lid with yellow bottom hamburg box, the Golden fries crispy red package container, and place them on the rectangular green tray using both arms.",
+    "Take the bright yellow hamburg box with logo and the Golden fries crispy red package container to the tray for serving items and set them there.",
+    "Move the yellow hamburg box and the Bright red box with fries inside to the flat green rectangular tray using both arms.",
+    "Pick up the bright yellow hamburg box with logo, then the Light yellow fries in red holder, and place them onto the solid green palm-sized tray.",
+    "Pick up the white lid with yellow bottom hamburg box, grab the Handheld fries pack bright red color, place them on the tray for serving items",
+    "Use both arms to move the white and yellow printed hamburg holder and the Small red box fries inside to the solid green palm-sized tray.",
+    "Using dual arms, lift the bright yellow hamburg box with logo and the Open-top red box filled with fries and drop them on the plastic tray with curved edges.",
+    "Take the white and yellow printed hamburg holder and the Small red box fries inside with both arms and set on the dark green serving tray.",
+    "Using dual arms, move the hamburg box with foldable top and the Small red box fries inside onto the dark green serving tray.",
+    "Grab the medium-sized box with hamburg design and the Handheld fries pack bright red color and position them on the dark green serving tray.",
+    "Place the white and yellow printed hamburg holder and the Small red box fries inside onto the dark green serving tray after picking them up.",
+    "With dual arms, move the rectangular hamburg box and the Golden fries crispy red package container onto the dark green rectangular plastic tray.",
+    "Lift the rectangular hamburg box and the Palm-sized red fries container, placing them neatly on the smooth texture green tray.",
+    "Grab the yellow hamburg box with white accents with one arm and the Light yellow fries in red holder with the other for the tray for serving items.",
+    "Transfer the rectangular hamburg box and the Golden fries sticks in red carton to the single-piece dark green tray with both arms",
+    "Pick up the yellow box for hamburg and the Small red box fries inside one by one and place on the solid green palm-sized tray.",
+    "Position the rectangular hamburg box and the Potato fries packaged in red carton on the dark green rectangular plastic tray with both arms.",
+    "Use dual arms to move the yellow hamburg box with white accents and the Small red box fries inside onto the tray for serving items",
+    "Place both the bright yellow hamburg box with logo and the Golden fries sticks in red carton on the rectangular green tray after grabbing them with both arms.",
+    "Set the medium-sized box with hamburg design and the Rectangular red carton holding fries on the dark green serving tray using two arms.",
+    "Pick up the medium-sized box with hamburg design and the Potato fries packaged in red carton, then put them on the dark green rectangular plastic tray",
+    "With two arms, pick the white and yellow printed hamburg holder and the Palm-sized red fries container for the tray for serving items.",
+    "Lift the rectangular hamburg box and the Open-top red box filled with fries, position them on the plastic tray with curved edges",
+    "Pick up the rectangular hamburg box and the Palm-sized red fries container, then put both on the tray for holding objects.",
+    "Using both arms, grab the yellow box for hamburg and the Red fries box for the dark green rectangular plastic tray.",
+    "Use dual arms to grab the medium-sized yellow hamburg package and the Light yellow fries in red holder and set them on the dark green rectangular plastic tray.",
+    "Place the smooth yellow hamburg packaging and the Golden fries crispy red package container on the smooth texture green tray after picking them up.",
+    "Place the smooth yellow hamburg packaging and the Open-top red box filled with fries together onto the dark green rectangular plastic tray.",
+    "Move the yellow hamburg box and the Light yellow fries in red holder with dual arms to the rectangular green tray.",
+    "Put the rectangular hamburg box and the Red fries box on the solid green palm-sized tray using both arms",
+    "Grab the foldable hamburg cardboard box and the Golden fries sticks in red carton, then put them on the medium plastic tray.",
+    "Take the foldable hamburg cardboard box and the Rectangular red carton holding fries, place them onto the tray with rounded corners.",
+    "Move the medium-sized box with hamburg design and the Golden fries sticks in red carton onto the medium plastic tray with both arms.",
+    "Grab the hamburg box with foldable top, grab the Small red box fries inside, and set both onto the single-piece dark green tray.",
+    "Use both arms to move the bright yellow hamburg box with logo and the Golden fries crispy red package container to the tray for serving items.",
+    "Grab the yellow hamburg box with white accents, pick the Golden fries sticks in red carton, then set them on the dark green serving tray",
+    "Using both arms, pick the foldable hamburg cardboard box and the Light yellow fries in red holder and drop them on the tray for holding objects.",
+    "Set the white lid with yellow bottom hamburg box and the Golden fries sticks in red carton down on the tray for serving items after picking them.",
+    "Lift the hamburg box with foldable top, lift the Palm-sized red fries container, then set both on the smooth texture green tray.",
+    "Grab the medium-sized yellow hamburg package and the Golden fries crispy red package container, use both arms to set on the rectangular green tray.",
+    "Lift the medium-sized yellow hamburg package and the Palm-sized red fries container and position them on the single-piece dark green tray.",
+    "Use dual arms to place the medium-sized yellow hamburg package and the Golden fries crispy red package container onto the solid green palm-sized tray",
+    "Pick the yellow hamburg box, then the Rectangular red carton holding fries, and place them on the tray for serving items.",
+    "Grab the white and yellow printed hamburg holder, then the Light yellow fries in red holder, and set them on the plastic tray with curved edges.",
+    "Use both arms to transfer the rectangular hamburg box and the Light yellow fries in red holder to the flat green rectangular tray.",
+    "Take the white lid with yellow bottom hamburg box, take the Rectangular red carton holding fries, and place them onto the single-piece dark green tray.",
+    "Place the rectangular hamburg box and the Small red box fries inside onto the medium plastic tray using dual arms",
+    "Pick the hamburg box with foldable top and the Handheld fries pack bright red color, and set them on the rectangular green tray.",
+    "Move the yellow box for hamburg and the Rectangular red carton holding fries to the tray for holding objects with both arms",
+    "Using both arms, set the yellow hamburg box and the Red fries box onto the tray for serving items.",
+    "Pick the white lid with yellow bottom hamburg box, the Red fries box, and place them on the medium plastic tray using both arms.",
+    "Take the yellow hamburg box with white accents and the Open-top red box filled with fries to the tray for holding objects and set them there.",
+    "Move the rectangular hamburg box and the Light yellow fries in red holder to the solid green palm-sized tray using both arms.",
+    "Pick up the smooth yellow hamburg packaging, then the Small red box fries inside, and place them onto the rectangular green tray.",
+    "Pick up the medium-sized box with hamburg design, grab the Rectangular red carton holding fries, place them on the dark green serving tray",
+    "Use both arms to move the hamburg box with foldable top and the French fries in red packaging to the single-piece dark green tray.",
+    "Using dual arms, lift the smooth yellow hamburg packaging and the Light yellow fries in red holder and drop them on the tray for holding objects.",
+    "Take the hamburg box with foldable top and the Golden fries crispy red package container with both arms and set on the tray for holding objects.",
+    "Using dual arms, move the hamburg box with foldable top and the Potato fries packaged in red carton onto the flat green rectangular tray.",
+    "Grab the yellow hamburg box and the Open-top red box filled with fries and position them on the single-piece dark green tray.",
+    "Place the rectangular hamburg box and the Golden fries sticks in red carton onto the plastic tray with curved edges after picking them up.",
+    "With dual arms, move the white and yellow printed hamburg holder and the Golden fries sticks in red carton onto the flat green rectangular tray.",
+    "Lift the white lid with yellow bottom hamburg box and the Handheld fries pack bright red color, placing them neatly on the flat green rectangular tray.",
+    "Grab the medium-sized yellow hamburg package with one arm and the French fries in red packaging with the other for the solid green palm-sized tray.",
+    "Transfer the bright yellow hamburg box with logo and the Open-top red box filled with fries to the solid green palm-sized tray with both arms",
+    "Pick up the yellow hamburg box and the Golden fries sticks in red carton one by one and place on the smooth texture green tray.",
+    "Position the yellow hamburg box and the Light yellow fries in red holder on the tray for serving items with both arms.",
+    "Use dual arms to move the white lid with yellow bottom hamburg box and the Small red box fries inside onto the tray for serving items",
+    "Place both the rectangular hamburg box and the Bright red box with fries inside on the smooth texture green tray after grabbing them with both arms.",
+    "Set the yellow hamburg box with white accents and the Light yellow fries in red holder on the dark green serving tray using two arms.",
+    "Pick up the yellow hamburg box and the Palm-sized red fries container, then put them on the medium plastic tray",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the French fries in red packaging for the flat green rectangular tray.",
+    "Lift the yellow hamburg box with white accents and the Potato fries packaged in red carton, position them on the medium plastic tray",
+    "Pick up the medium-sized box with hamburg design and the Red fries box, then put both on the flat green rectangular tray.",
+    "Using both arms, grab the white lid with yellow bottom hamburg box and the Golden fries crispy red package container for the tray for serving items.",
+    "Use dual arms to grab the medium-sized box with hamburg design and the Golden fries crispy red package container and set them on the dark green rectangular plastic tray.",
+    "Place the smooth yellow hamburg packaging and the Rectangular red carton holding fries on the tray for serving items after picking them up.",
+    "Place the foldable hamburg cardboard box and the Potato fries packaged in red carton together onto the rectangular green tray.",
+    "Move the yellow hamburg box and the Palm-sized red fries container with dual arms to the plastic tray with curved edges.",
+    "Put the bright yellow hamburg box with logo and the Bright red box with fries inside on the tray with rounded corners using both arms",
+    "Grab the rectangular hamburg box and the Rectangular red carton holding fries, then put them on the single-piece dark green tray.",
+    "Take the white lid with yellow bottom hamburg box and the Golden fries sticks in red carton, place them onto the tray for serving items.",
+    "Move the white and yellow printed hamburg holder and the French fries in red packaging onto the tray for holding objects with both arms.",
+    "Grab the rectangular hamburg box, grab the Small red box fries inside, and set both onto the tray for serving items.",
+    "Use both arms to move the medium-sized box with hamburg design and the Small red box fries inside to the medium plastic tray.",
+    "Grab the foldable hamburg cardboard box, pick the Open-top red box filled with fries, then set them on the plastic tray with curved edges"
+  ],
+  "unseen": [
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the green tray",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the green tray",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the green tray.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the green tray",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the green tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the green tray",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the green tray.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box and set them on the green tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box and set them on the medium green tray for carrying."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001031.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use dual arms to place the hamburg box with foldable top and the Golden fries crispy red package container onto the medium plastic tray",
+    "Pick up the medium-sized box with hamburg design and the Palm-sized red fries container, then put both on the flat green rectangular tray.",
+    "Using both arms, grab the rectangular hamburg box and the Rectangular red carton holding fries for the tray with rounded corners.",
+    "Pick the medium-sized box with hamburg design, then the Bright red box with fries inside, and place them on the tray with rounded corners.",
+    "Lift the white lid with yellow bottom hamburg box, lift the Golden fries sticks in red carton, then set both on the tray for holding objects.",
+    "Using both arms, set the foldable hamburg cardboard box and the Palm-sized red fries container onto the medium plastic tray.",
+    "Move the medium-sized yellow hamburg package and the Red fries box onto the single-piece dark green tray with both arms.",
+    "Using dual arms, lift the hamburg box with foldable top and the Handheld fries pack bright red color and drop them on the rectangular green tray.",
+    "Pick up the foldable hamburg cardboard box, grab the Rectangular red carton holding fries, place them on the flat green rectangular tray",
+    "Use dual arms to grab the rectangular hamburg box and the Bright red box with fries inside and set them on the plastic tray with curved edges.",
+    "Move the foldable hamburg cardboard box and the Rectangular red carton holding fries with dual arms to the tray with rounded corners.",
+    "Grab the medium-sized yellow hamburg package and the French fries in red packaging, then put them on the solid green palm-sized tray.",
+    "Place the foldable hamburg cardboard box and the French fries in red packaging together onto the tray for holding objects.",
+    "Position the rectangular hamburg box and the Golden fries crispy red package container on the smooth texture green tray with both arms.",
+    "Set the yellow box for hamburg and the Palm-sized red fries container on the dark green serving tray using two arms.",
+    "Grab the yellow hamburg box with one arm and the Light yellow fries in red holder with the other for the tray for holding objects.",
+    "Lift the medium-sized box with hamburg design and the Rectangular red carton holding fries, placing them neatly on the dark green rectangular plastic tray.",
+    "Grab the medium-sized yellow hamburg package, then the Golden fries crispy red package container, and set them on the tray for holding objects.",
+    "Transfer the bright yellow hamburg box with logo and the Light yellow fries in red holder to the flat green rectangular tray with both arms",
+    "Using both arms, pick the white and yellow printed hamburg holder and the Red fries box and drop them on the smooth texture green tray.",
+    "Grab the bright yellow hamburg box with logo and the Light yellow fries in red holder, use both arms to set on the medium plastic tray.",
+    "Move the yellow box for hamburg and the Palm-sized red fries container to the medium plastic tray using both arms.",
+    "Pick up the white and yellow printed hamburg holder and the Potato fries packaged in red carton one by one and place on the tray for serving items.",
+    "Grab the medium-sized yellow hamburg package, pick the Open-top red box filled with fries, then set them on the dark green rectangular plastic tray",
+    "Put the hamburg box with foldable top and the Small red box fries inside on the single-piece dark green tray using both arms",
+    "Take the white lid with yellow bottom hamburg box, take the French fries in red packaging, and place them onto the solid green palm-sized tray.",
+    "Pick the yellow hamburg box and the Red fries box, and set them on the tray for holding objects.",
+    "Lift the smooth yellow hamburg packaging and the French fries in red packaging, position them on the dark green rectangular plastic tray",
+    "Take the white and yellow printed hamburg holder and the Rectangular red carton holding fries, place them onto the tray for serving items.",
+    "Take the rectangular hamburg box and the Bright red box with fries inside with both arms and set on the rectangular green tray.",
+    "Place the white and yellow printed hamburg holder and the Bright red box with fries inside onto the smooth texture green tray after picking them up.",
+    "Grab the medium-sized yellow hamburg package, grab the French fries in red packaging, and set both onto the rectangular green tray.",
+    "Place both the white and yellow printed hamburg holder and the Potato fries packaged in red carton on the tray for holding objects after grabbing them with both arms.",
+    "Grab the white and yellow printed hamburg holder and the Light yellow fries in red holder and position them on the single-piece dark green tray.",
+    "Take the yellow hamburg box with white accents and the French fries in red packaging to the tray with rounded corners and set them there.",
+    "Pick the white lid with yellow bottom hamburg box, the Handheld fries pack bright red color, and place them on the single-piece dark green tray using both arms.",
+    "Place the foldable hamburg cardboard box and the Rectangular red carton holding fries onto the medium plastic tray using dual arms",
+    "Place the rectangular hamburg box and the Light yellow fries in red holder on the tray for holding objects after picking them up.",
+    "Pick up the yellow box for hamburg and the French fries in red packaging, then put them on the smooth texture green tray",
+    "Use dual arms to move the yellow box for hamburg and the Small red box fries inside onto the dark green rectangular plastic tray",
+    "Use both arms to move the rectangular hamburg box and the Golden fries crispy red package container to the single-piece dark green tray.",
+    "Set the medium-sized yellow hamburg package and the Red fries box down on the rectangular green tray after picking them.",
+    "With two arms, pick the yellow hamburg box and the Rectangular red carton holding fries for the dark green rectangular plastic tray.",
+    "Lift the yellow box for hamburg and the Open-top red box filled with fries and position them on the smooth texture green tray.",
+    "With dual arms, move the medium-sized yellow hamburg package and the Handheld fries pack bright red color onto the dark green rectangular plastic tray.",
+    "Pick up the rectangular hamburg box, then the Small red box fries inside, and place them onto the plastic tray with curved edges.",
+    "Using dual arms, move the white lid with yellow bottom hamburg box and the Golden fries sticks in red carton onto the tray with rounded corners.",
+    "Move the yellow hamburg box and the Red fries box to the dark green serving tray with both arms",
+    "Use both arms to transfer the medium-sized yellow hamburg package and the French fries in red packaging to the medium plastic tray.",
+    "Use both arms to move the white and yellow printed hamburg holder and the Rectangular red carton holding fries to the solid green palm-sized tray.",
+    "Use dual arms to place the yellow hamburg box with white accents and the Small red box fries inside onto the smooth texture green tray",
+    "Pick up the medium-sized box with hamburg design and the Rectangular red carton holding fries, then put both on the plastic tray with curved edges.",
+    "Using both arms, grab the bright yellow hamburg box with logo and the Small red box fries inside for the single-piece dark green tray.",
+    "Pick the yellow box for hamburg, then the Rectangular red carton holding fries, and place them on the solid green palm-sized tray.",
+    "Lift the hamburg box with foldable top, lift the Golden fries sticks in red carton, then set both on the tray for holding objects.",
+    "Using both arms, set the yellow hamburg box with white accents and the Light yellow fries in red holder onto the medium plastic tray.",
+    "Move the white and yellow printed hamburg holder and the Open-top red box filled with fries onto the rectangular green tray with both arms.",
+    "Using dual arms, lift the foldable hamburg cardboard box and the Bright red box with fries inside and drop them on the plastic tray with curved edges.",
+    "Pick up the medium-sized yellow hamburg package, grab the Palm-sized red fries container, place them on the tray for serving items",
+    "Use dual arms to grab the yellow box for hamburg and the Red fries box and set them on the flat green rectangular tray.",
+    "Move the yellow hamburg box with white accents and the Small red box fries inside with dual arms to the rectangular green tray.",
+    "Grab the bright yellow hamburg box with logo and the Palm-sized red fries container, then put them on the smooth texture green tray.",
+    "Place the yellow box for hamburg and the Bright red box with fries inside together onto the solid green palm-sized tray.",
+    "Position the rectangular hamburg box and the Golden fries sticks in red carton on the tray with rounded corners with both arms.",
+    "Set the medium-sized box with hamburg design and the Palm-sized red fries container on the flat green rectangular tray using two arms.",
+    "Grab the yellow hamburg box with one arm and the Golden fries crispy red package container with the other for the single-piece dark green tray.",
+    "Lift the medium-sized box with hamburg design and the Small red box fries inside, placing them neatly on the tray for serving items.",
+    "Grab the rectangular hamburg box, then the Potato fries packaged in red carton, and set them on the flat green rectangular tray.",
+    "Transfer the bright yellow hamburg box with logo and the Rectangular red carton holding fries to the rectangular green tray with both arms",
+    "Using both arms, pick the smooth yellow hamburg packaging and the Palm-sized red fries container and drop them on the tray with rounded corners.",
+    "Grab the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton, use both arms to set on the solid green palm-sized tray.",
+    "Move the white and yellow printed hamburg holder and the Small red box fries inside to the dark green serving tray using both arms.",
+    "Pick up the bright yellow hamburg box with logo and the French fries in red packaging one by one and place on the flat green rectangular tray.",
+    "Grab the yellow box for hamburg, pick the Handheld fries pack bright red color, then set them on the dark green rectangular plastic tray",
+    "Put the bright yellow hamburg box with logo and the Small red box fries inside on the dark green rectangular plastic tray using both arms",
+    "Take the white lid with yellow bottom hamburg box, take the Palm-sized red fries container, and place them onto the smooth texture green tray.",
+    "Pick the rectangular hamburg box and the Golden fries sticks in red carton, and set them on the dark green rectangular plastic tray.",
+    "Lift the yellow hamburg box with white accents and the Small red box fries inside, position them on the solid green palm-sized tray",
+    "Take the yellow hamburg box with white accents and the Bright red box with fries inside, place them onto the rectangular green tray.",
+    "Take the rectangular hamburg box and the Palm-sized red fries container with both arms and set on the tray with rounded corners.",
+    "Place the yellow hamburg box with white accents and the Golden fries sticks in red carton onto the tray for serving items after picking them up.",
+    "Grab the medium-sized yellow hamburg package, grab the French fries in red packaging, and set both onto the dark green rectangular plastic tray.",
+    "Place both the yellow box for hamburg and the Rectangular red carton holding fries on the tray with rounded corners after grabbing them with both arms.",
+    "Grab the yellow box for hamburg and the Small red box fries inside and position them on the dark green serving tray.",
+    "Take the hamburg box with foldable top and the Bright red box with fries inside to the medium plastic tray and set them there.",
+    "Pick the foldable hamburg cardboard box, the Light yellow fries in red holder, and place them on the medium plastic tray using both arms.",
+    "Place the white lid with yellow bottom hamburg box and the Red fries box onto the medium plastic tray using dual arms",
+    "Place the white and yellow printed hamburg holder and the Open-top red box filled with fries on the smooth texture green tray after picking them up.",
+    "Pick up the white lid with yellow bottom hamburg box and the Golden fries crispy red package container, then put them on the rectangular green tray",
+    "Use dual arms to move the medium-sized yellow hamburg package and the Small red box fries inside onto the smooth texture green tray",
+    "Use both arms to move the yellow hamburg box with white accents and the Handheld fries pack bright red color to the tray for holding objects.",
+    "Set the white and yellow printed hamburg holder and the Rectangular red carton holding fries down on the rectangular green tray after picking them.",
+    "With two arms, pick the yellow box for hamburg and the Bright red box with fries inside for the solid green palm-sized tray.",
+    "Lift the yellow box for hamburg and the Open-top red box filled with fries and position them on the medium plastic tray.",
+    "With dual arms, move the yellow hamburg box and the Golden fries crispy red package container onto the tray for holding objects.",
+    "Pick up the white and yellow printed hamburg holder, then the Golden fries crispy red package container, and place them onto the smooth texture green tray.",
+    "Using dual arms, move the white lid with yellow bottom hamburg box and the Bright red box with fries inside onto the rectangular green tray.",
+    "Move the rectangular hamburg box and the Bright red box with fries inside to the smooth texture green tray with both arms",
+    "Use both arms to transfer the white lid with yellow bottom hamburg box and the Open-top red box filled with fries to the smooth texture green tray.",
+    "Use both arms to move the white and yellow printed hamburg holder and the Palm-sized red fries container to the smooth texture green tray."
+  ],
+  "unseen": [
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the smooth green tray.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the green tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the green tray",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg container and the Golden fries in red carton box on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the medium green tray for carrying.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the green tray",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the green tray",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the green tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001032.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rectangular hamburg wrap with printed design and the McDonald's logo on red fries box, position them on the dark green serving tray",
+    "Use dual arms to move the white hamburg with yellow and brown stains and the crispy fries in hand-sized pouch onto the single-piece dark green tray",
+    "Pick the palm-sized hamburg packaging, the red box with golden sticks, and place them on the tray for serving items using both arms.",
+    "Pick up the white hamburg and the McDonald's logo on red fries box one by one and place on the smooth texture green tray.",
+    "Position the palm-sized hamburg packaging and the red container with yellow fries on the smooth texture green tray with both arms.",
+    "Using both arms, pick the smooth white hamburg packaging and the red container with yellow fries and drop them on the medium plastic tray.",
+    "Using both arms, grab the hamburg with yellow and brown marks and the bright red fries holder for the smooth texture green tray.",
+    "Place both the wrapped hamburg with white plastic-like cover and the thin crispy potato fries on the single-piece dark green tray after grabbing them with both arms.",
+    "Pick up the wrapped hamburg with white plastic-like cover and the red fries packet, then put them on the tray for holding objects",
+    "Move the white hamburg with creased wrapper and the rectangular red fries packet onto the medium plastic tray with both arms.",
+    "Move the rectangular hamburg wrap with printed design and the red box with golden sticks to the dark green rectangular plastic tray with both arms",
+    "Move the hamburg with printed illustrations and the golden fries in smooth red pouch with dual arms to the dark green rectangular plastic tray.",
+    "Take the white hamburg with yellow and brown stains and the red fries packet with both arms and set on the tray with rounded corners.",
+    "Grab the hamburg with yellow and brown marks with one arm and the rectangular red fries packet with the other for the tray for holding objects.",
+    "Place the white hamburg with yellow and brown stains and the small red fries packet on the single-piece dark green tray after picking them up.",
+    "Use dual arms to place the white hamburg with creased wrapper and the thin crispy potato fries onto the plastic tray with curved edges",
+    "Pick up the white hamburg with creased wrapper, then the golden fries in smooth red pouch, and place them onto the smooth texture green tray.",
+    "Use both arms to move the smooth white hamburg packaging and the red fries packet to the plastic tray with curved edges.",
+    "Using both arms, set the hamburg with crumpled edges and the red container with yellow fries onto the tray for serving items.",
+    "Take the white hamburg with yellow and brown stains, take the McDonald's logo on red fries box, and place them onto the medium plastic tray.",
+    "Use both arms to move the hamburg with crumpled edges and the McDonald's logo on red fries box to the dark green serving tray.",
+    "Place the white hamburg with creased wrapper and the crispy fries in hand-sized pouch together onto the plastic tray with curved edges.",
+    "Use dual arms to grab the wrapped hamburg with white plastic-like cover and the crispy fries in hand-sized pouch and set them on the solid green palm-sized tray.",
+    "Put the yellow and brown patterned hamburg and the thin crispy potato fries on the dark green serving tray using both arms",
+    "Using dual arms, lift the smooth white hamburg packaging and the red fries packet and drop them on the dark green serving tray.",
+    "Grab the white hamburg with creased wrapper and the golden fries in smooth red pouch and position them on the solid green palm-sized tray.",
+    "Grab the white hamburg with creased wrapper, then the red fries packet, and set them on the medium plastic tray.",
+    "Move the white hamburg with creased wrapper and the McDonald's fries bag to the medium plastic tray using both arms.",
+    "Pick the hamburg with crumpled edges and the red box with golden sticks, and set them on the flat green rectangular tray.",
+    "Transfer the hamburg with printed illustrations and the rectangular red fries packet to the rectangular green tray with both arms",
+    "Use both arms to transfer the hamburg with crumpled edges and the McDonald's logo on red fries box to the tray for serving items.",
+    "Place the hamburg with crumpled edges and the red container with yellow fries onto the tray for holding objects after picking them up.",
+    "Set the palm-sized hamburg packaging and the golden fries in smooth red pouch on the single-piece dark green tray using two arms.",
+    "Grab the hamburg with crumpled edges, pick the red box with golden sticks, then set them on the dark green rectangular plastic tray",
+    "Set the white hamburg with yellow and brown stains and the red container with yellow fries down on the medium plastic tray after picking them.",
+    "Pick up the white hamburg with yellow and brown stains, grab the golden fries in red packaging, place them on the single-piece dark green tray",
+    "With two arms, pick the white hamburg and the small red fries packet for the smooth texture green tray.",
+    "Take the smooth white hamburg wrap with yellow spots and the crispy fries in hand-sized pouch, place them onto the flat green rectangular tray.",
+    "With dual arms, move the wrapped hamburg with white plastic-like cover and the small red fries packet onto the tray for serving items.",
+    "Lift the palm-sized hamburg packaging and the crispy fries in hand-sized pouch and position them on the tray for serving items.",
+    "Pick up the hamburg with yellow and brown marks and the thin crispy potato fries, then put both on the solid green palm-sized tray.",
+    "Place the smooth white hamburg wrap with yellow spots and the red fries packet onto the medium plastic tray using dual arms",
+    "Lift the palm-sized hamburg packaging and the red box with golden sticks, placing them neatly on the tray with rounded corners.",
+    "Pick the white hamburg, then the small red fries packet, and place them on the rectangular green tray.",
+    "Take the wrapped hamburg with white plastic-like cover and the golden fries in smooth red pouch to the solid green palm-sized tray and set them there.",
+    "Grab the hamburg with printed illustrations, grab the golden fries in red packaging, and set both onto the tray for serving items.",
+    "Grab the white hamburg and the thin crispy potato fries, then put them on the dark green rectangular plastic tray.",
+    "Lift the palm-sized hamburg packaging, lift the thin crispy potato fries, then set both on the medium plastic tray.",
+    "Using dual arms, move the white hamburg and the red box with golden sticks onto the flat green rectangular tray.",
+    "Grab the wrapped hamburg with white plastic-like cover and the rectangular red fries packet, use both arms to set on the smooth texture green tray.",
+    "Lift the white hamburg with yellow and brown stains and the golden fries in smooth red pouch, position them on the dark green rectangular plastic tray",
+    "Use dual arms to move the white hamburg and the thin crispy potato fries onto the dark green serving tray",
+    "Pick the hamburg with yellow and brown marks, the McDonald's logo on red fries box, and place them on the dark green rectangular plastic tray using both arms.",
+    "Pick up the rectangular hamburg wrap with printed design and the rectangular red fries packet one by one and place on the dark green rectangular plastic tray.",
+    "Position the palm-sized hamburg packaging and the bright red fries holder on the flat green rectangular tray with both arms.",
+    "Using both arms, pick the hamburg with printed illustrations and the thin crispy potato fries and drop them on the tray for serving items.",
+    "Using both arms, grab the smooth white hamburg packaging and the McDonald's fries bag for the plastic tray with curved edges.",
+    "Place both the hamburg with yellow and brown marks and the McDonald's logo on red fries box on the flat green rectangular tray after grabbing them with both arms.",
+    "Pick up the wrapped hamburg with white plastic-like cover and the McDonald's fries bag, then put them on the single-piece dark green tray",
+    "Move the white hamburg and the rectangular red fries packet onto the plastic tray with curved edges with both arms.",
+    "Move the wrapped hamburg with white plastic-like cover and the red fries packet to the medium plastic tray with both arms",
+    "Move the hamburg with crumpled edges and the red fries packet with dual arms to the single-piece dark green tray.",
+    "Take the yellow and brown patterned hamburg and the rectangular red fries packet with both arms and set on the tray with rounded corners.",
+    "Grab the hamburg with crumpled edges with one arm and the red box with golden sticks with the other for the single-piece dark green tray.",
+    "Place the rectangular hamburg wrap with printed design and the thin crispy potato fries on the single-piece dark green tray after picking them up.",
+    "Use dual arms to place the smooth white hamburg wrap with yellow spots and the McDonald's fries bag onto the tray for holding objects",
+    "Pick up the rectangular hamburg wrap with printed design, then the small red fries packet, and place them onto the tray with rounded corners.",
+    "Use both arms to move the white hamburg with yellow and brown stains and the thin crispy potato fries to the plastic tray with curved edges.",
+    "Using both arms, set the smooth white hamburg wrap with yellow spots and the small red fries packet onto the flat green rectangular tray.",
+    "Take the smooth white hamburg packaging, take the golden fries in smooth red pouch, and place them onto the solid green palm-sized tray.",
+    "Use both arms to move the white hamburg and the McDonald's fries bag to the smooth texture green tray.",
+    "Place the yellow and brown patterned hamburg and the crispy fries in hand-sized pouch together onto the tray for serving items.",
+    "Use dual arms to grab the smooth white hamburg packaging and the rectangular red fries packet and set them on the tray with rounded corners.",
+    "Put the hamburg with crumpled edges and the red container with yellow fries on the dark green rectangular plastic tray using both arms",
+    "Using dual arms, lift the white hamburg and the crispy fries in hand-sized pouch and drop them on the dark green rectangular plastic tray.",
+    "Grab the white hamburg with yellow and brown stains and the crispy fries in hand-sized pouch and position them on the tray for holding objects.",
+    "Grab the smooth white hamburg packaging, then the red container with yellow fries, and set them on the rectangular green tray.",
+    "Move the wrapped hamburg with white plastic-like cover and the golden fries in smooth red pouch to the tray with rounded corners using both arms.",
+    "Pick the hamburg with crumpled edges and the red container with yellow fries, and set them on the flat green rectangular tray.",
+    "Transfer the hamburg with crumpled edges and the McDonald's logo on red fries box to the solid green palm-sized tray with both arms",
+    "Use both arms to transfer the white hamburg with creased wrapper and the small red fries packet to the dark green rectangular plastic tray.",
+    "Place the rectangular hamburg wrap with printed design and the red container with yellow fries onto the dark green rectangular plastic tray after picking them up.",
+    "Set the wrapped hamburg with white plastic-like cover and the McDonald's logo on red fries box on the dark green serving tray using two arms.",
+    "Grab the hamburg with crumpled edges, pick the golden fries in smooth red pouch, then set them on the plastic tray with curved edges",
+    "Set the yellow and brown patterned hamburg and the thin crispy potato fries down on the tray for holding objects after picking them.",
+    "Pick up the yellow and brown patterned hamburg, grab the red box with golden sticks, place them on the dark green serving tray",
+    "With two arms, pick the hamburg with crumpled edges and the small red fries packet for the smooth texture green tray.",
+    "Take the white hamburg with creased wrapper and the McDonald's logo on red fries box, place them onto the single-piece dark green tray.",
+    "With dual arms, move the white hamburg with creased wrapper and the red container with yellow fries onto the medium plastic tray.",
+    "Lift the wrapped hamburg with white plastic-like cover and the small red fries packet and position them on the smooth texture green tray.",
+    "Pick up the yellow and brown patterned hamburg and the golden fries in red packaging, then put both on the solid green palm-sized tray.",
+    "Place the wrapped hamburg with white plastic-like cover and the small red fries packet onto the plastic tray with curved edges using dual arms",
+    "Lift the smooth white hamburg packaging and the red container with yellow fries, placing them neatly on the tray for serving items.",
+    "Pick the wrapped hamburg with white plastic-like cover, then the red box with golden sticks, and place them on the flat green rectangular tray.",
+    "Take the wrapped hamburg with white plastic-like cover and the red container with yellow fries to the medium plastic tray and set them there.",
+    "Grab the smooth white hamburg wrap with yellow spots, grab the thin crispy potato fries, and set both onto the plastic tray with curved edges.",
+    "Grab the hamburg with printed illustrations and the red container with yellow fries, then put them on the tray with rounded corners.",
+    "Lift the yellow and brown patterned hamburg, lift the rectangular red fries packet, then set both on the medium plastic tray.",
+    "Using dual arms, move the yellow and brown patterned hamburg and the small red fries packet onto the tray for serving items.",
+    "Grab the hamburg with yellow and brown marks and the McDonald's fries bag, use both arms to set on the dark green serving tray."
+  ],
+  "unseen": [
+    "Grab the hamburg with uneven white surface and the golden fries in red holder together, setting them on the green tray.",
+    "Place the rounded rectangular hamburg wrap and the hand-sized fries container onto the smooth green tray.",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder, then place on the smooth green tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden fries in red holder and set them on the green tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden fries in red holder on the green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder and place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the smooth green tray",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the green tray",
+    "Grab the rounded rectangular hamburg wrap and the hand-sized fries container together, setting them on the medium green tray for carrying.",
+    "Place the rounded rectangular hamburg wrap and the golden crispy fries inside red box onto the green tray.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, then place them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder, then place on the smooth green tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the green tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the hand-sized fries container on the green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, place them on the green tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the green tray",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container together, setting them on the medium green tray for carrying.",
+    "Place the rounded rectangular hamburg wrap and the hand-sized fries container onto the medium green tray for carrying.",
+    "Pick the rounded rectangular hamburg wrap and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place on the green tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden fries in red holder and set them on the smooth green tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the hand-sized fries container on the smooth green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container and place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the smooth green tray",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Place the hamburg with uneven white surface and the golden fries in red holder onto the smooth green tray.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, then place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with uneven white surface and the golden crispy fries inside red box and set them on the smooth green tray.",
+    "Use both arms to place the hamburg with uneven white surface and the golden fries in red holder on the green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, place them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder and place them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Grab the rounded rectangular hamburg wrap and the hand-sized fries container, then set them on the green tray",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the medium green tray for carrying.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with uneven white surface and the golden crispy fries inside red box and set them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with uneven white surface and the golden crispy fries inside red box on the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder and place them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container together, then drop on the medium green tray for carrying",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the medium green tray for carrying",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the green tray.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the medium green tray for carrying.",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place on the smooth green tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the hand-sized fries container and set them on the medium green tray for carrying.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden fries in red holder on the smooth green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder together, then drop on the medium green tray for carrying",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the green tray",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container together, setting them on the smooth green tray.",
+    "Place the rounded rectangular hamburg wrap and the golden crispy fries inside red box onto the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden fries in red holder, then place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container, then place on the smooth green tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the medium green tray for carrying.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the hand-sized fries container on the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the green tray",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder together, setting them on the medium green tray for carrying.",
+    "Place the hamburg with uneven white surface and the hand-sized fries container onto the medium green tray for carrying.",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder, then place on the smooth green tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden crispy fries inside red box and set them on the green tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the hand-sized fries container on the green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden fries in red holder, place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and place them on the smooth green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Place the small yellow-marked hamburg wrapper and the golden crispy fries inside red box onto the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden fries in red holder, then place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with uneven white surface and the hand-sized fries container and set them on the medium green tray for carrying.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden crispy fries inside red box on the medium green tray for carrying.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and place them on the green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the smooth green tray",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder, then set them on the smooth green tray",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box together, setting them on the green tray.",
+    "Place the hamburg with uneven white surface and the golden fries in red holder onto the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the hand-sized fries container and set them on the smooth green tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the hand-sized fries container on the smooth green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, place them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the medium green tray for carrying",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the medium green tray for carrying"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001033.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hamburg box with lid, then the red box with golden sticks, and set them on the dark rectangular serving tray.",
+    "Pick up the green and yellow hamburg container and the McDonald's fries bag one by one and place on the smooth plastic tray.",
+    "Pick up the easy-to-carry hamburg box and the red fries packet, then put them on the flat tray with smooth surface",
+    "Transfer the yellow bottom hamburg box and the McDonald's logo on red fries box to the dark rectangular serving tray with both arms",
+    "Lift the easy-to-carry hamburg box, lift the golden fries in smooth red pouch, then set both on the rectangular tray.",
+    "Lift the green top hamburg box and the McDonald's fries bag, position them on the tray for holding things",
+    "Move the rectangular hamburg box and the thin crispy potato fries with dual arms to the rectangular plastic tray.",
+    "Position the green top hamburg box and the McDonald's fries bag on the tray with slightly raised edges with both arms.",
+    "Pick up the yellow and green hamburg holder, then the McDonald's fries bag, and place them onto the brown tray with rim.",
+    "Move the green top hamburg box and the red fries packet to the medium-sized dark brown tray using both arms.",
+    "With dual arms, move the green and yellow hamburg container and the golden fries in red packaging onto the brown tray with rim.",
+    "Use both arms to move the box with green hamburg lid and the rectangular red fries packet to the medium-sized dark brown tray.",
+    "Place the hamburg box with lid and the McDonald's fries bag on the tray for holding things after picking them up.",
+    "Take the yellow and green hamburg holder and the bright red fries holder, place them onto the smooth plastic tray.",
+    "Set the green top hamburg box and the crispy fries in hand-sized pouch down on the smooth plastic tray after picking them.",
+    "Place the green top hamburg box and the red container with yellow fries onto the smooth plastic tray using dual arms",
+    "Using dual arms, move the small hamburg box and the small red fries packet onto the rectangular tray.",
+    "Grab the box with green hamburg lid with one arm and the bright red fries holder with the other for the brown tray.",
+    "Take the rectangular hamburg container with smooth finish, take the red box with golden sticks, and place them onto the flat brown tray with raised edges.",
+    "Pick the rectangular hamburg container with smooth finish, the crispy fries in hand-sized pouch, and place them on the brown tray using both arms.",
+    "Grab the small hamburg box, pick the red box with golden sticks, then set them on the smooth plastic tray",
+    "Grab the yellow bottom hamburg box and the bright red fries holder and position them on the smooth plastic tray.",
+    "Using dual arms, lift the yellow bottom hamburg box and the rectangular red fries packet and drop them on the dark rectangular serving tray.",
+    "Put the rectangular hamburg box and the rectangular red fries packet on the smooth plastic tray using both arms",
+    "Use dual arms to grab the yellow bottom hamburg box and the McDonald's fries bag and set them on the brown tray with rim.",
+    "Using both arms, grab the smooth hamburg box and the McDonald's logo on red fries box for the medium dark brown tray.",
+    "Using both arms, set the green top hamburg box and the bright red fries holder onto the tray with slightly raised edges.",
+    "Use both arms to move the rectangular hamburg box and the crispy fries in hand-sized pouch to the medium-sized dark brown tray.",
+    "Use dual arms to move the green top hamburg box and the rectangular red fries packet onto the medium dark brown tray",
+    "Grab the easy-to-carry hamburg box, grab the red container with yellow fries, and set both onto the brown tray.",
+    "Pick the yellow and green hamburg holder and the red container with yellow fries, and set them on the brown tray.",
+    "Grab the green and yellow hamburg container and the small red fries packet, then put them on the brown tray with rim.",
+    "Set the rectangular hamburg container with smooth finish and the rectangular red fries packet on the tray with slightly raised edges using two arms.",
+    "Pick the box with green hamburg lid, then the small red fries packet, and place them on the flat tray with smooth surface.",
+    "Lift the small hamburg box and the McDonald's logo on red fries box, placing them neatly on the flat brown tray with raised edges.",
+    "Using both arms, pick the hamburg box with rounded edges and the rectangular red fries packet and drop them on the flat brown tray with raised edges.",
+    "With two arms, pick the rectangular hamburg box and the McDonald's logo on red fries box for the brown tray with rim.",
+    "Lift the rectangular hamburg box and the crispy fries in hand-sized pouch and position them on the brown tray with rim.",
+    "Grab the smooth hamburg box and the red fries packet, use both arms to set on the brown tray with rim.",
+    "Use both arms to transfer the green and yellow hamburg container and the crispy fries in hand-sized pouch to the medium-sized dark brown tray.",
+    "Move the green top hamburg box and the bright red fries holder onto the tray with slightly raised edges with both arms.",
+    "Use dual arms to place the box with green hamburg lid and the red fries packet onto the rectangular tray",
+    "Pick up the green top hamburg box, grab the thin crispy potato fries, place them on the tray with slightly raised edges",
+    "Take the rectangular hamburg box and the crispy fries in hand-sized pouch with both arms and set on the brown tray with rim.",
+    "Place the yellow and green hamburg holder and the rectangular red fries packet together onto the brown tray with rim.",
+    "Move the rectangular hamburg container with smooth finish and the golden fries in smooth red pouch to the flat tray with smooth surface with both arms",
+    "Place the green top hamburg box and the golden fries in red packaging onto the medium-sized dark brown tray after picking them up.",
+    "Place both the smooth hamburg box and the McDonald's fries bag on the brown tray after grabbing them with both arms.",
+    "Pick up the hamburg box with rounded edges and the thin crispy potato fries, then put both on the smooth plastic tray.",
+    "Take the easy-to-carry hamburg box and the bright red fries holder to the medium dark brown tray and set them there.",
+    "Grab the rectangular hamburg box, then the red fries packet, and set them on the rectangular plastic tray.",
+    "Pick up the easy-to-carry hamburg box and the thin crispy potato fries one by one and place on the dark rectangular serving tray.",
+    "Pick up the yellow and green hamburg holder and the crispy fries in hand-sized pouch, then put them on the medium-sized dark brown tray",
+    "Transfer the easy-to-carry hamburg box and the red fries packet to the medium dark brown tray with both arms",
+    "Lift the box with green hamburg lid, lift the golden fries in smooth red pouch, then set both on the rectangular tray.",
+    "Lift the box with green hamburg lid and the red container with yellow fries, position them on the tray for holding things",
+    "Move the green top hamburg box and the small red fries packet with dual arms to the tray with slightly raised edges.",
+    "Position the green and yellow hamburg container and the McDonald's fries bag on the smooth plastic tray with both arms.",
+    "Pick up the hamburg box with lid, then the bright red fries holder, and place them onto the brown tray.",
+    "Move the rectangular hamburg box and the bright red fries holder to the brown tray using both arms.",
+    "With dual arms, move the hamburg box with lid and the golden fries in red packaging onto the brown tray.",
+    "Use both arms to move the green and yellow hamburg container and the red fries packet to the flat tray with smooth surface.",
+    "Place the smooth hamburg box and the small red fries packet on the dark rectangular serving tray after picking them up.",
+    "Take the yellow bottom hamburg box and the crispy fries in hand-sized pouch, place them onto the smooth plastic tray.",
+    "Set the easy-to-carry hamburg box and the McDonald's logo on red fries box down on the rectangular plastic tray after picking them.",
+    "Place the box with green hamburg lid and the red box with golden sticks onto the flat tray with smooth surface using dual arms",
+    "Using dual arms, move the green top hamburg box and the red fries packet onto the dark rectangular serving tray.",
+    "Grab the hamburg box with lid with one arm and the golden fries in smooth red pouch with the other for the medium dark brown tray.",
+    "Take the rectangular hamburg box, take the small red fries packet, and place them onto the smooth plastic tray.",
+    "Pick the rectangular hamburg box, the golden fries in red packaging, and place them on the medium dark brown tray using both arms.",
+    "Grab the hamburg box with lid, pick the crispy fries in hand-sized pouch, then set them on the brown tray",
+    "Grab the hamburg box with lid and the McDonald's fries bag and position them on the tray for holding things.",
+    "Using dual arms, lift the yellow bottom hamburg box and the golden fries in smooth red pouch and drop them on the rectangular plastic tray.",
+    "Put the hamburg box with rounded edges and the rectangular red fries packet on the dark rectangular serving tray using both arms",
+    "Use dual arms to grab the yellow and green hamburg holder and the red fries packet and set them on the dark rectangular serving tray.",
+    "Using both arms, grab the green and yellow hamburg container and the golden fries in smooth red pouch for the brown tray with rim.",
+    "Using both arms, set the box with green hamburg lid and the bright red fries holder onto the brown tray with rim.",
+    "Use both arms to move the box with green hamburg lid and the golden fries in smooth red pouch to the smooth plastic tray.",
+    "Use dual arms to move the smooth hamburg box and the rectangular red fries packet onto the dark rectangular serving tray",
+    "Grab the easy-to-carry hamburg box, grab the McDonald's logo on red fries box, and set both onto the flat tray with smooth surface.",
+    "Pick the hamburg box with rounded edges and the crispy fries in hand-sized pouch, and set them on the smooth plastic tray.",
+    "Grab the hamburg box with lid and the red container with yellow fries, then put them on the tray for holding things.",
+    "Set the green and yellow hamburg container and the red container with yellow fries on the flat brown tray with raised edges using two arms.",
+    "Pick the rectangular hamburg box, then the golden fries in smooth red pouch, and place them on the rectangular tray.",
+    "Lift the easy-to-carry hamburg box and the thin crispy potato fries, placing them neatly on the tray for holding things.",
+    "Using both arms, pick the yellow and green hamburg holder and the McDonald's fries bag and drop them on the medium-sized dark brown tray.",
+    "With two arms, pick the easy-to-carry hamburg box and the golden fries in red packaging for the medium dark brown tray.",
+    "Lift the hamburg box with rounded edges and the small red fries packet and position them on the flat brown tray with raised edges.",
+    "Grab the box with green hamburg lid and the crispy fries in hand-sized pouch, use both arms to set on the flat tray with smooth surface.",
+    "Use both arms to transfer the smooth hamburg box and the red box with golden sticks to the brown tray.",
+    "Move the rectangular hamburg box and the McDonald's fries bag onto the tray with slightly raised edges with both arms.",
+    "Use dual arms to place the small hamburg box and the small red fries packet onto the medium-sized dark brown tray",
+    "Pick up the hamburg box with rounded edges, grab the bright red fries holder, place them on the brown tray with rim",
+    "Take the rectangular hamburg box and the red fries packet with both arms and set on the brown tray.",
+    "Place the easy-to-carry hamburg box and the red container with yellow fries together onto the brown tray.",
+    "Move the rectangular hamburg box and the golden fries in red packaging to the rectangular tray with both arms",
+    "Place the hamburg box with lid and the crispy fries in hand-sized pouch onto the brown tray after picking them up.",
+    "Place both the yellow bottom hamburg box and the rectangular red fries packet on the smooth plastic tray after grabbing them with both arms.",
+    "Pick up the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch, then put both on the rectangular plastic tray.",
+    "Take the easy-to-carry hamburg box and the red container with yellow fries to the flat brown tray with raised edges and set them there."
+  ],
+  "unseen": [
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the tray for carrying items",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the medium flat tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, place them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the medium flat tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the cardboard hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Use both arms to grab the stackable hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the medium flat tray.",
+    "Place the compact hamburg box and the hand-sized fries container onto the tray for carrying items.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Use both arms to grab the stackable hamburg box and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Place the compact hamburg box and the hand-sized fries container onto the medium flat tray.",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the tray for carrying items.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the tray for carrying items.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the medium flat tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg box and the golden fries in red holder together, then drop on the medium flat tray",
+    "Use both arms to grab the stackable hamburg box and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the golden fries in red holder on the tray for carrying items.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the medium flat tray.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder, then place on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the tray for carrying items.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the medium flat tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Place the compact hamburg box and the golden fries in red holder onto the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the flat brown serving tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Use both arms to grab the compact hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the flat brown serving tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the medium flat tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001034.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular hamburg box and the small red fries packet together onto the plastic tray with curved edges.",
+    "Grab the hamburg box with lid, then the golden fries in red packaging, and set them on the plastic tray with curved edges.",
+    "Use dual arms to grab the green and yellow hamburg container and the crispy fries in hand-sized pouch and set them on the single-piece dark green tray.",
+    "Grab the rectangular hamburg container with smooth finish and the red box with golden sticks, then put them on the medium plastic tray.",
+    "Pick the rectangular hamburg box, the crispy fries in hand-sized pouch, and place them on the plastic tray with curved edges using both arms.",
+    "Take the rectangular hamburg container with smooth finish and the bright red fries holder, place them onto the dark green serving tray.",
+    "Set the hamburg box with rounded edges and the rectangular red fries packet down on the dark green rectangular plastic tray after picking them.",
+    "Place both the rectangular hamburg box and the red box with golden sticks on the smooth texture green tray after grabbing them with both arms.",
+    "Place the hamburg box with lid and the red box with golden sticks onto the medium plastic tray using dual arms",
+    "Pick up the smooth hamburg box, grab the thin crispy potato fries, place them on the solid green palm-sized tray",
+    "Put the yellow bottom hamburg box and the rectangular red fries packet on the tray for holding objects using both arms",
+    "Use dual arms to place the green top hamburg box and the red fries packet onto the dark green rectangular plastic tray",
+    "Take the yellow and green hamburg holder and the small red fries packet with both arms and set on the smooth texture green tray.",
+    "Grab the yellow and green hamburg holder, grab the golden fries in red packaging, and set both onto the plastic tray with curved edges.",
+    "Move the smooth hamburg box and the McDonald's fries bag to the rectangular green tray with both arms",
+    "Using both arms, grab the easy-to-carry hamburg box and the crispy fries in hand-sized pouch for the medium plastic tray.",
+    "Grab the box with green hamburg lid, pick the small red fries packet, then set them on the plastic tray with curved edges",
+    "Pick the hamburg box with lid, then the red box with golden sticks, and place them on the tray with rounded corners.",
+    "Use both arms to transfer the yellow bottom hamburg box and the golden fries in red packaging to the medium plastic tray.",
+    "Set the hamburg box with rounded edges and the red fries packet on the rectangular green tray using two arms.",
+    "Place the rectangular hamburg container with smooth finish and the McDonald's fries bag onto the dark green serving tray after picking them up.",
+    "Move the rectangular hamburg container with smooth finish and the rectangular red fries packet with dual arms to the flat green rectangular tray.",
+    "Move the green top hamburg box and the McDonald's fries bag to the tray for holding objects using both arms.",
+    "Using both arms, set the green and yellow hamburg container and the thin crispy potato fries onto the tray for holding objects.",
+    "Move the rectangular hamburg box and the McDonald's fries bag onto the plastic tray with curved edges with both arms.",
+    "Pick up the yellow and green hamburg holder and the golden fries in red packaging, then put them on the flat green rectangular tray",
+    "Grab the hamburg box with rounded edges with one arm and the thin crispy potato fries with the other for the single-piece dark green tray.",
+    "Take the hamburg box with rounded edges and the golden fries in smooth red pouch to the flat green rectangular tray and set them there.",
+    "Lift the box with green hamburg lid and the red box with golden sticks, position them on the plastic tray with curved edges",
+    "With dual arms, move the green top hamburg box and the McDonald's fries bag onto the tray with rounded corners.",
+    "Lift the hamburg box with lid, lift the red container with yellow fries, then set both on the dark green rectangular plastic tray.",
+    "Lift the rectangular hamburg container with smooth finish and the red box with golden sticks, placing them neatly on the single-piece dark green tray.",
+    "Use both arms to move the yellow bottom hamburg box and the thin crispy potato fries to the flat green rectangular tray.",
+    "Use both arms to move the green top hamburg box and the red box with golden sticks to the smooth texture green tray.",
+    "Using dual arms, lift the rectangular hamburg box and the red fries packet and drop them on the plastic tray with curved edges.",
+    "Using dual arms, move the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch onto the tray for holding objects.",
+    "Pick up the box with green hamburg lid, then the small red fries packet, and place them onto the tray for holding objects.",
+    "Grab the hamburg box with rounded edges and the red fries packet and position them on the flat green rectangular tray.",
+    "Place the yellow bottom hamburg box and the bright red fries holder on the medium plastic tray after picking them up.",
+    "Position the hamburg box with lid and the thin crispy potato fries on the dark green serving tray with both arms.",
+    "Transfer the rectangular hamburg container with smooth finish and the thin crispy potato fries to the dark green rectangular plastic tray with both arms",
+    "Pick up the yellow and green hamburg holder and the McDonald's logo on red fries box one by one and place on the smooth texture green tray.",
+    "With two arms, pick the hamburg box with lid and the McDonald's logo on red fries box for the smooth texture green tray.",
+    "Pick up the yellow bottom hamburg box and the red box with golden sticks, then put both on the tray for serving items.",
+    "Use dual arms to move the box with green hamburg lid and the rectangular red fries packet onto the dark green serving tray",
+    "Grab the easy-to-carry hamburg box and the McDonald's fries bag, use both arms to set on the tray for holding objects.",
+    "Take the box with green hamburg lid, take the red container with yellow fries, and place them onto the tray with rounded corners.",
+    "Using both arms, pick the yellow bottom hamburg box and the bright red fries holder and drop them on the tray with rounded corners.",
+    "Pick the hamburg box with rounded edges and the rectangular red fries packet, and set them on the rectangular green tray.",
+    "Lift the green and yellow hamburg container and the thin crispy potato fries and position them on the flat green rectangular tray.",
+    "Place the green and yellow hamburg container and the thin crispy potato fries together onto the plastic tray with curved edges.",
+    "Grab the hamburg box with rounded edges, then the McDonald's fries bag, and set them on the medium plastic tray.",
+    "Use dual arms to grab the box with green hamburg lid and the McDonald's logo on red fries box and set them on the tray with rounded corners.",
+    "Grab the box with green hamburg lid and the McDonald's fries bag, then put them on the tray with rounded corners.",
+    "Pick the hamburg box with rounded edges, the thin crispy potato fries, and place them on the dark green rectangular plastic tray using both arms.",
+    "Take the green and yellow hamburg container and the rectangular red fries packet, place them onto the tray for serving items.",
+    "Set the rectangular hamburg box and the red container with yellow fries down on the tray for holding objects after picking them.",
+    "Place both the yellow and green hamburg holder and the red box with golden sticks on the plastic tray with curved edges after grabbing them with both arms.",
+    "Place the smooth hamburg box and the McDonald's logo on red fries box onto the tray with rounded corners using dual arms",
+    "Pick up the hamburg box with rounded edges, grab the red fries packet, place them on the tray with rounded corners",
+    "Put the hamburg box with rounded edges and the golden fries in smooth red pouch on the dark green serving tray using both arms",
+    "Use dual arms to place the box with green hamburg lid and the bright red fries holder onto the single-piece dark green tray",
+    "Take the rectangular hamburg box and the red fries packet with both arms and set on the tray for holding objects.",
+    "Grab the yellow bottom hamburg box, grab the red fries packet, and set both onto the dark green rectangular plastic tray.",
+    "Move the green top hamburg box and the rectangular red fries packet to the rectangular green tray with both arms",
+    "Using both arms, grab the green top hamburg box and the red fries packet for the solid green palm-sized tray.",
+    "Grab the yellow and green hamburg holder, pick the small red fries packet, then set them on the dark green serving tray",
+    "Pick the hamburg box with lid, then the McDonald's fries bag, and place them on the rectangular green tray.",
+    "Use both arms to transfer the yellow and green hamburg holder and the thin crispy potato fries to the rectangular green tray.",
+    "Set the rectangular hamburg box and the red container with yellow fries on the plastic tray with curved edges using two arms.",
+    "Place the hamburg box with rounded edges and the red fries packet onto the tray with rounded corners after picking them up.",
+    "Move the rectangular hamburg container with smooth finish and the red fries packet with dual arms to the medium plastic tray.",
+    "Move the hamburg box with rounded edges and the red container with yellow fries to the single-piece dark green tray using both arms.",
+    "Using both arms, set the hamburg box with lid and the red box with golden sticks onto the flat green rectangular tray.",
+    "Move the hamburg box with rounded edges and the red fries packet onto the tray for serving items with both arms.",
+    "Pick up the yellow bottom hamburg box and the bright red fries holder, then put them on the medium plastic tray",
+    "Grab the rectangular hamburg container with smooth finish with one arm and the golden fries in red packaging with the other for the tray with rounded corners.",
+    "Take the small hamburg box and the McDonald's fries bag to the rectangular green tray and set them there.",
+    "Lift the smooth hamburg box and the crispy fries in hand-sized pouch, position them on the medium plastic tray",
+    "With dual arms, move the green top hamburg box and the golden fries in red packaging onto the solid green palm-sized tray.",
+    "Lift the green and yellow hamburg container, lift the thin crispy potato fries, then set both on the solid green palm-sized tray.",
+    "Lift the box with green hamburg lid and the bright red fries holder, placing them neatly on the dark green rectangular plastic tray.",
+    "Use both arms to move the hamburg box with rounded edges and the bright red fries holder to the tray for serving items.",
+    "Use both arms to move the box with green hamburg lid and the rectangular red fries packet to the plastic tray with curved edges.",
+    "Using dual arms, lift the yellow and green hamburg holder and the crispy fries in hand-sized pouch and drop them on the flat green rectangular tray.",
+    "Using dual arms, move the hamburg box with rounded edges and the rectangular red fries packet onto the single-piece dark green tray.",
+    "Pick up the small hamburg box, then the golden fries in smooth red pouch, and place them onto the tray for holding objects.",
+    "Grab the smooth hamburg box and the red container with yellow fries and position them on the rectangular green tray.",
+    "Place the green and yellow hamburg container and the thin crispy potato fries on the medium plastic tray after picking them up.",
+    "Position the easy-to-carry hamburg box and the rectangular red fries packet on the solid green palm-sized tray with both arms.",
+    "Transfer the easy-to-carry hamburg box and the red fries packet to the solid green palm-sized tray with both arms",
+    "Pick up the smooth hamburg box and the bright red fries holder one by one and place on the tray for holding objects.",
+    "With two arms, pick the green and yellow hamburg container and the red box with golden sticks for the rectangular green tray.",
+    "Pick up the rectangular hamburg container with smooth finish and the thin crispy potato fries, then put both on the plastic tray with curved edges.",
+    "Use dual arms to move the yellow bottom hamburg box and the rectangular red fries packet onto the solid green palm-sized tray",
+    "Grab the yellow bottom hamburg box and the rectangular red fries packet, use both arms to set on the smooth texture green tray.",
+    "Take the easy-to-carry hamburg box, take the golden fries in smooth red pouch, and place them onto the dark green serving tray.",
+    "Using both arms, pick the hamburg box with lid and the crispy fries in hand-sized pouch and drop them on the single-piece dark green tray.",
+    "Pick the green top hamburg box and the bright red fries holder, and set them on the smooth texture green tray.",
+    "Lift the rectangular hamburg box and the McDonald's fries bag and position them on the plastic tray with curved edges."
+  ],
+  "unseen": [
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the smooth green tray.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the medium green tray for carrying",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the green tray.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the medium green tray for carrying.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Place the compact hamburg box and the golden fries in red holder onto the medium green tray for carrying.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the smooth green tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the smooth green tray",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the green tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the smooth green tray.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the green tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the medium green tray for carrying",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the green tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium green tray for carrying.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the smooth green tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the green tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the medium green tray for carrying.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the medium green tray for carrying.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the smooth green tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the medium green tray for carrying.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the medium green tray for carrying",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the medium green tray for carrying.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the green tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the medium green tray for carrying.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the medium green tray for carrying.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the medium green tray for carrying",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the smooth green tray.",
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the green tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the medium green tray for carrying.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the smooth green tray",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the green tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the green tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the medium green tray for carrying.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the green tray",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the green tray.",
+    "Use both arms to place the stackable hamburg box and the golden fries in red holder on the smooth green tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the green tray",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the green tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the smooth green tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the smooth green tray.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the green tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the smooth green tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the green tray",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the smooth green tray.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the smooth green tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the smooth green tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the medium green tray for carrying",
+    "Use both arms to grab the compact hamburg box and the golden fries in red holder and set them on the green tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the green tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the smooth green tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder together, then drop on the medium green tray for carrying",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the smooth green tray.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the medium green tray for carrying.",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the green tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the medium green tray for carrying",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the green tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the green tray.",
+    "Place the compact hamburg box and the hand-sized fries container onto the smooth green tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the green tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the medium green tray for carrying",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the medium green tray for carrying.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the green tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the green tray",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the green tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the green tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the smooth green tray.",
+    "Place the cardboard hamburg box and the golden crispy fries inside red box onto the green tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the green tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the medium green tray for carrying",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the smooth green tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the smooth green tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the smooth green tray",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the smooth green tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the medium green tray for carrying.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the smooth green tray.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the green tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the green tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the smooth green tray",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box and place them on the green tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium green tray for carrying.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the smooth green tray.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the green tray",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the smooth green tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the smooth green tray.",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the medium green tray for carrying.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the smooth green tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the green tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the medium green tray for carrying",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the green tray.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the medium green tray for carrying."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001035.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Set the white and yellow printed hamburg holder and the red container with yellow fries down on the bright orange tray for serving after picking them.",
+    "Grab the medium-sized yellow hamburg package with one arm and the McDonald's fries bag with the other for the bright orange tray with glossy finish.",
+    "Transfer the yellow hamburg box and the McDonald's logo on red fries box to the orange tray with smooth surface with both arms",
+    "Lift the yellow box for hamburg and the thin crispy potato fries, position them on the plastic tray for holding items",
+    "Grab the yellow hamburg box with white accents, grab the thin crispy potato fries, and set both onto the bright orange tray for serving.",
+    "Grab the rectangular hamburg box, pick the small red fries packet, then set them on the bright orange tray with glossy finish",
+    "Pick the bright yellow hamburg box with logo, the McDonald's logo on red fries box, and place them on the plastic tray with shiny texture using both arms.",
+    "Move the rectangular hamburg box and the bright red fries holder with dual arms to the medium-sized plastic tray.",
+    "Using dual arms, lift the yellow box for hamburg and the rectangular red fries packet and drop them on the bright orange rectangular tray.",
+    "With dual arms, move the hamburg box with foldable top and the thin crispy potato fries onto the smooth glossy orange medium tray.",
+    "Lift the yellow hamburg box with white accents and the crispy fries in hand-sized pouch and position them on the plastic tray with shiny texture.",
+    "Using both arms, pick the bright yellow hamburg box with logo and the red fries packet and drop them on the bright orange rectangular tray.",
+    "Lift the yellow hamburg box with white accents and the crispy fries in hand-sized pouch, placing them neatly on the bright orange rectangular tray.",
+    "Position the rectangular hamburg box and the golden fries in red packaging on the smooth glossy orange medium tray with both arms.",
+    "Take the smooth yellow hamburg packaging and the rectangular red fries packet with both arms and set on the medium bright orange tray.",
+    "With two arms, pick the medium-sized yellow hamburg package and the small red fries packet for the plastic tray with shiny texture.",
+    "Grab the white and yellow printed hamburg holder, then the golden fries in smooth red pouch, and set them on the smooth plastic tray.",
+    "Use dual arms to move the yellow box for hamburg and the red fries packet onto the rectangular tray",
+    "Use dual arms to grab the yellow box for hamburg and the golden fries in red packaging and set them on the medium-sized plastic tray.",
+    "Grab the smooth yellow hamburg packaging and the red container with yellow fries, use both arms to set on the plastic tray with shiny texture.",
+    "Place the smooth yellow hamburg packaging and the bright red fries holder onto the orange tray after picking them up.",
+    "Pick up the rectangular hamburg box, grab the McDonald's logo on red fries box, place them on the smooth glossy orange medium tray",
+    "Use both arms to transfer the yellow box for hamburg and the red container with yellow fries to the rectangular tray.",
+    "Pick up the white and yellow printed hamburg holder and the thin crispy potato fries, then put both on the smooth plastic tray.",
+    "Set the yellow box for hamburg and the rectangular red fries packet on the orange tray using two arms.",
+    "Place both the smooth yellow hamburg packaging and the red container with yellow fries on the bright orange tray for serving after grabbing them with both arms.",
+    "Using both arms, grab the white lid with yellow bottom hamburg box and the golden fries in smooth red pouch for the bright orange tray with glossy finish.",
+    "Place the smooth yellow hamburg packaging and the golden fries in smooth red pouch on the plastic tray with shiny texture after picking them up.",
+    "Pick the yellow box for hamburg, then the bright red fries holder, and place them on the smooth glossy orange medium tray.",
+    "Place the foldable hamburg cardboard box and the golden fries in red packaging together onto the plastic tray for holding items.",
+    "Use dual arms to place the bright yellow hamburg box with logo and the red container with yellow fries onto the orange tray with smooth surface",
+    "Pick up the yellow hamburg box, then the McDonald's logo on red fries box, and place them onto the medium bright orange tray.",
+    "Using both arms, set the smooth yellow hamburg packaging and the thin crispy potato fries onto the medium-sized plastic tray.",
+    "Use both arms to move the hamburg box with foldable top and the golden fries in smooth red pouch to the smooth glossy orange medium tray.",
+    "Take the yellow box for hamburg and the rectangular red fries packet to the orange tray with smooth surface and set them there.",
+    "Put the white and yellow printed hamburg holder and the small red fries packet on the rectangular tray using both arms",
+    "Pick up the hamburg box with foldable top and the golden fries in red packaging one by one and place on the bright orange tray for serving.",
+    "Take the foldable hamburg cardboard box, take the red container with yellow fries, and place them onto the bright orange tray with glossy finish.",
+    "Place the white lid with yellow bottom hamburg box and the McDonald's logo on red fries box onto the bright orange tray with glossy finish using dual arms",
+    "Grab the yellow box for hamburg and the red fries packet, then put them on the bright orange tray for serving.",
+    "Grab the bright yellow hamburg box with logo and the golden fries in red packaging and position them on the bright orange tray for serving.",
+    "Move the bright yellow hamburg box with logo and the rectangular red fries packet onto the bright orange rectangular tray with both arms.",
+    "Pick up the white and yellow printed hamburg holder and the small red fries packet, then put them on the plastic tray for holding items",
+    "Lift the hamburg box with foldable top, lift the McDonald's fries bag, then set both on the medium bright orange tray.",
+    "Using dual arms, move the white lid with yellow bottom hamburg box and the crispy fries in hand-sized pouch onto the smooth plastic tray.",
+    "Take the white and yellow printed hamburg holder and the golden fries in smooth red pouch, place them onto the smooth glossy orange medium tray.",
+    "Pick the hamburg box with foldable top and the red container with yellow fries, and set them on the orange tray.",
+    "Move the yellow hamburg box with white accents and the bright red fries holder to the bright orange rectangular tray with both arms",
+    "Move the hamburg box with foldable top and the thin crispy potato fries to the medium bright orange tray using both arms.",
+    "Use both arms to move the yellow hamburg box with white accents and the bright red fries holder to the medium-sized plastic tray.",
+    "Set the hamburg box with foldable top and the rectangular red fries packet down on the plastic tray for holding items after picking them.",
+    "Grab the smooth yellow hamburg packaging with one arm and the golden fries in red packaging with the other for the bright orange tray with glossy finish.",
+    "Transfer the medium-sized box with hamburg design and the bright red fries holder to the bright orange rectangular tray with both arms",
+    "Lift the bright yellow hamburg box with logo and the bright red fries holder, position them on the plastic tray with shiny texture",
+    "Grab the medium-sized box with hamburg design, grab the McDonald's fries bag, and set both onto the medium-sized plastic tray.",
+    "Grab the white lid with yellow bottom hamburg box, pick the golden fries in smooth red pouch, then set them on the orange tray with smooth surface",
+    "Pick the white lid with yellow bottom hamburg box, the McDonald's logo on red fries box, and place them on the medium bright orange tray using both arms.",
+    "Move the medium-sized box with hamburg design and the crispy fries in hand-sized pouch with dual arms to the plastic tray for holding items.",
+    "Using dual arms, lift the medium-sized box with hamburg design and the red container with yellow fries and drop them on the medium-sized plastic tray.",
+    "With dual arms, move the bright yellow hamburg box with logo and the rectangular red fries packet onto the bright orange rectangular tray.",
+    "Lift the rectangular hamburg box and the red container with yellow fries and position them on the bright orange tray with glossy finish.",
+    "Using both arms, pick the foldable hamburg cardboard box and the thin crispy potato fries and drop them on the plastic tray with shiny texture.",
+    "Lift the white lid with yellow bottom hamburg box and the red box with golden sticks, placing them neatly on the medium-sized plastic tray.",
+    "Position the medium-sized yellow hamburg package and the McDonald's fries bag on the bright orange rectangular tray with both arms.",
+    "Take the yellow hamburg box with white accents and the McDonald's logo on red fries box with both arms and set on the plastic tray for holding items.",
+    "With two arms, pick the medium-sized yellow hamburg package and the thin crispy potato fries for the bright orange tray for serving.",
+    "Grab the yellow hamburg box, then the golden fries in red packaging, and set them on the smooth plastic tray.",
+    "Use dual arms to move the yellow hamburg box with white accents and the golden fries in red packaging onto the orange tray with smooth surface",
+    "Use dual arms to grab the white and yellow printed hamburg holder and the rectangular red fries packet and set them on the medium bright orange tray.",
+    "Grab the foldable hamburg cardboard box and the bright red fries holder, use both arms to set on the medium bright orange tray.",
+    "Place the hamburg box with foldable top and the crispy fries in hand-sized pouch onto the plastic tray with shiny texture after picking them up.",
+    "Pick up the white and yellow printed hamburg holder, grab the rectangular red fries packet, place them on the orange tray",
+    "Use both arms to transfer the medium-sized yellow hamburg package and the thin crispy potato fries to the medium bright orange tray.",
+    "Pick up the white lid with yellow bottom hamburg box and the McDonald's fries bag, then put both on the orange tray.",
+    "Set the yellow hamburg box and the small red fries packet on the medium-sized plastic tray using two arms.",
+    "Place both the foldable hamburg cardboard box and the bright red fries holder on the medium bright orange tray after grabbing them with both arms.",
+    "Using both arms, grab the foldable hamburg cardboard box and the red container with yellow fries for the rectangular tray.",
+    "Place the yellow box for hamburg and the red box with golden sticks on the plastic tray for holding items after picking them up.",
+    "Pick the yellow hamburg box with white accents, then the bright red fries holder, and place them on the orange tray.",
+    "Place the white and yellow printed hamburg holder and the red fries packet together onto the bright orange rectangular tray.",
+    "Use dual arms to place the bright yellow hamburg box with logo and the bright red fries holder onto the bright orange tray for serving",
+    "Pick up the bright yellow hamburg box with logo, then the golden fries in smooth red pouch, and place them onto the orange tray with smooth surface.",
+    "Using both arms, set the medium-sized box with hamburg design and the bright red fries holder onto the smooth glossy orange medium tray.",
+    "Use both arms to move the yellow hamburg box and the red container with yellow fries to the plastic tray with shiny texture.",
+    "Take the yellow box for hamburg and the McDonald's fries bag to the smooth glossy orange medium tray and set them there.",
+    "Put the white lid with yellow bottom hamburg box and the red box with golden sticks on the medium bright orange tray using both arms",
+    "Pick up the white lid with yellow bottom hamburg box and the red fries packet one by one and place on the plastic tray with shiny texture.",
+    "Take the medium-sized yellow hamburg package, take the red container with yellow fries, and place them onto the rectangular tray.",
+    "Place the medium-sized yellow hamburg package and the McDonald's fries bag onto the bright orange tray for serving using dual arms",
+    "Grab the yellow hamburg box with white accents and the rectangular red fries packet, then put them on the plastic tray for holding items.",
+    "Grab the yellow box for hamburg and the red fries packet and position them on the plastic tray with shiny texture.",
+    "Move the medium-sized yellow hamburg package and the red container with yellow fries onto the plastic tray with shiny texture with both arms.",
+    "Pick up the hamburg box with foldable top and the golden fries in red packaging, then put them on the bright orange tray with glossy finish",
+    "Lift the smooth yellow hamburg packaging, lift the red box with golden sticks, then set both on the bright orange rectangular tray.",
+    "Using dual arms, move the yellow hamburg box with white accents and the McDonald's logo on red fries box onto the smooth glossy orange medium tray.",
+    "Take the medium-sized yellow hamburg package and the McDonald's logo on red fries box, place them onto the bright orange tray for serving.",
+    "Pick the medium-sized yellow hamburg package and the small red fries packet, and set them on the smooth glossy orange medium tray.",
+    "Move the medium-sized box with hamburg design and the McDonald's logo on red fries box to the smooth plastic tray with both arms",
+    "Move the rectangular hamburg box and the McDonald's fries bag to the orange tray with smooth surface using both arms.",
+    "Use both arms to move the rectangular hamburg box and the McDonald's logo on red fries box to the orange tray."
+  ],
+  "unseen": [
+    "Place the cardboard hamburg container and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder together, then drop on the rectangular tray with rounded edges",
+    "Place the rectangular cardboard box for hamburg and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Use both arms to place the rectangular cardboard box for hamburg and the hand-sized fries container on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg pack with printed details and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to place the rectangular cardboard box for hamburg and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg container and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Place the rectangular cardboard box for hamburg and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder together, setting them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Use both arms to grab the cardboard hamburg container and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg pack with printed details and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder together, then drop on the rectangular bright orange serving tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001037.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the orange hamburg, grab the Potato fries packaged in red carton, place them on the tray with smooth plastic surface",
+    "Pick the smooth orange and white hamburg, then the Bright red box with fries inside, and place them on the smooth rectangular tray.",
+    "Use both arms to transfer the decorative rounded hamburg and the Golden fries crispy red package container to the plastic tray for carrying items.",
+    "Take the irregular shaped hamburg, take the Potato fries packaged in red carton, and place them onto the plastic tray for carrying items.",
+    "Move the irregular shaped hamburg and the Palm-sized red fries container to the tray with rounded rectangular shape with both arms",
+    "Using both arms, grab the orange-white hamburg with yellow highlight and the Golden fries crispy red package container for the smooth light beige plastic tray.",
+    "Grab the orange hamburg with white underside, grab the Palm-sized red fries container, and set both onto the medium rectangular flat tray.",
+    "Grab the rounded hamburg with painted details and the Open-top red box filled with fries, then put them on the flat tray with rounded corners.",
+    "Take the decorative rounded hamburg and the Potato fries packaged in red carton to the tray with smooth plastic surface and set them there.",
+    "Grab the decorative rounded hamburg with one arm and the Potato fries packaged in red carton with the other for the beige tray.",
+    "Using both arms, pick the rounded hamburg with painted details and the Open-top red box filled with fries and drop them on the medium beige tray with flat base.",
+    "Pick up the decorative rounded hamburg and the Light yellow fries in red holder, then put both on the tray for holding items.",
+    "Pick up the rounded hamburg with painted details and the Bright red box with fries inside, then put them on the medium rectangular flat tray",
+    "Place the decorative rounded hamburg and the Golden fries sticks in red carton onto the smooth light beige plastic tray after picking them up.",
+    "Pick the hamburg with yellow mark, the Bright red box with fries inside, and place them on the medium beige tray with flat base using both arms.",
+    "Using both arms, set the orange hamburg and the Handheld fries pack bright red color onto the plastic tray for carrying items.",
+    "Move the orange hamburg and the Golden fries crispy red package container with dual arms to the tray with rounded rectangular shape.",
+    "Place both the irregular shaped hamburg and the Golden fries sticks in red carton on the medium rectangular flat tray after grabbing them with both arms.",
+    "Pick the yellow marked white and orange hamburg and the Open-top red box filled with fries, and set them on the light beige smooth tray.",
+    "Use both arms to move the hamburg with yellow mark and the Potato fries packaged in red carton to the light beige smooth tray.",
+    "Take the small rounded hamburg and the Bright red box with fries inside with both arms and set on the light beige smooth tray.",
+    "Grab the hamburg with yellow mark and the Bright red box with fries inside, use both arms to set on the tray with smooth plastic surface.",
+    "Lift the hamburg with yellow mark and the Handheld fries pack bright red color and position them on the tray for holding items.",
+    "Lift the yellow marked white and orange hamburg, lift the Golden fries crispy red package container, then set both on the medium beige tray with flat base.",
+    "Using dual arms, lift the orange hamburg with white underside and the Bright red box with fries inside and drop them on the medium beige tray with flat base.",
+    "Use dual arms to move the hand-sized orange hamburg and the Small red box fries inside onto the tray with smooth plastic surface",
+    "Transfer the rounded hamburg with painted details and the French fries in red packaging to the smooth light beige plastic tray with both arms",
+    "Grab the yellow marked white and orange hamburg, pick the Bright red box with fries inside, then set them on the flat tray with rounded corners",
+    "Lift the orange-white hamburg with yellow highlight and the Small red box fries inside, placing them neatly on the smooth rectangular tray.",
+    "Lift the hand-sized orange hamburg and the Potato fries packaged in red carton, position them on the tray for holding items",
+    "Take the hand-sized orange hamburg and the Red fries box, place them onto the tray for holding items.",
+    "Pick up the orange-white hamburg with yellow highlight, then the Golden fries crispy red package container, and place them onto the medium rectangular flat tray.",
+    "Use dual arms to grab the white part with orange edges hamburg and the Open-top red box filled with fries and set them on the light beige smooth tray.",
+    "Put the hamburg with yellow mark and the Light yellow fries in red holder on the tray with rounded rectangular shape using both arms",
+    "Move the hand-sized orange hamburg and the Golden fries crispy red package container to the light beige smooth tray using both arms.",
+    "With two arms, pick the white part with orange edges hamburg and the Bright red box with fries inside for the rectangular beige tray for objects.",
+    "Using dual arms, move the hand-sized orange hamburg and the Red fries box onto the plastic tray for carrying items.",
+    "Use both arms to move the smooth orange and white hamburg and the Golden fries crispy red package container to the plastic tray for carrying items.",
+    "Grab the smooth orange and white hamburg and the Light yellow fries in red holder and position them on the rectangular beige tray for objects.",
+    "With dual arms, move the hamburg with yellow mark and the French fries in red packaging onto the medium rectangular flat tray.",
+    "Set the hand-sized orange hamburg and the French fries in red packaging on the rectangular beige tray for objects using two arms.",
+    "Use dual arms to place the small rounded hamburg and the Palm-sized red fries container onto the plastic tray for carrying items",
+    "Place the decorative rounded hamburg and the Bright red box with fries inside on the tray with smooth plastic surface after picking them up.",
+    "Move the orange hamburg and the Rectangular red carton holding fries onto the tray with smooth plastic surface with both arms.",
+    "Position the small rounded hamburg and the Potato fries packaged in red carton on the plastic tray for carrying items with both arms.",
+    "Pick up the hamburg with yellow mark and the Palm-sized red fries container one by one and place on the tray with rounded rectangular shape.",
+    "Grab the white part with orange edges hamburg, then the Small red box fries inside, and set them on the beige tray.",
+    "Set the small rounded hamburg and the Red fries box down on the medium beige tray with flat base after picking them.",
+    "Place the small rounded hamburg and the French fries in red packaging together onto the beige tray.",
+    "Place the yellow marked white and orange hamburg and the Small red box fries inside onto the plastic tray for carrying items using dual arms",
+    "Pick up the irregular shaped hamburg, grab the Open-top red box filled with fries, place them on the smooth rectangular tray",
+    "Pick the hand-sized orange hamburg, then the Potato fries packaged in red carton, and place them on the tray with smooth plastic surface.",
+    "Use both arms to transfer the orange hamburg and the Rectangular red carton holding fries to the medium rectangular flat tray.",
+    "Take the decorative rounded hamburg, take the Open-top red box filled with fries, and place them onto the medium beige tray with flat base.",
+    "Move the hand-sized orange hamburg and the Red fries box to the tray for holding items with both arms",
+    "Using both arms, grab the smooth orange and white hamburg and the Small red box fries inside for the rectangular beige tray for objects.",
+    "Grab the hand-sized orange hamburg, grab the Golden fries crispy red package container, and set both onto the smooth light beige plastic tray.",
+    "Grab the white part with orange edges hamburg and the Handheld fries pack bright red color, then put them on the rectangular beige tray for objects.",
+    "Take the smooth orange and white hamburg and the Bright red box with fries inside to the tray with smooth plastic surface and set them there.",
+    "Grab the orange-white hamburg with yellow highlight with one arm and the Open-top red box filled with fries with the other for the tray with rounded rectangular shape.",
+    "Using both arms, pick the hand-sized orange hamburg and the Bright red box with fries inside and drop them on the medium beige tray with flat base.",
+    "Pick up the rounded hamburg with painted details and the Palm-sized red fries container, then put both on the plastic tray for carrying items.",
+    "Pick up the white part with orange edges hamburg and the Red fries box, then put them on the tray with rounded rectangular shape",
+    "Place the smooth orange and white hamburg and the Golden fries crispy red package container onto the tray for holding items after picking them up.",
+    "Pick the hand-sized orange hamburg, the Golden fries crispy red package container, and place them on the plastic tray for carrying items using both arms.",
+    "Using both arms, set the decorative rounded hamburg and the Palm-sized red fries container onto the flat tray with rounded corners.",
+    "Move the orange hamburg and the Golden fries sticks in red carton with dual arms to the flat tray with rounded corners.",
+    "Place both the smooth orange and white hamburg and the Small red box fries inside on the rectangular beige tray for objects after grabbing them with both arms.",
+    "Pick the yellow marked white and orange hamburg and the Rectangular red carton holding fries, and set them on the rectangular beige tray for objects.",
+    "Use both arms to move the smooth orange and white hamburg and the Palm-sized red fries container to the tray for holding items.",
+    "Take the white part with orange edges hamburg and the Open-top red box filled with fries with both arms and set on the smooth rectangular tray.",
+    "Grab the orange hamburg with white underside and the French fries in red packaging, use both arms to set on the light beige smooth tray.",
+    "Lift the white part with orange edges hamburg and the Bright red box with fries inside and position them on the smooth rectangular tray.",
+    "Lift the orange-white hamburg with yellow highlight, lift the Rectangular red carton holding fries, then set both on the medium rectangular flat tray.",
+    "Using dual arms, lift the irregular shaped hamburg and the Light yellow fries in red holder and drop them on the plastic tray for carrying items.",
+    "Use dual arms to move the orange hamburg and the Light yellow fries in red holder onto the medium rectangular flat tray",
+    "Transfer the hand-sized orange hamburg and the Open-top red box filled with fries to the beige tray with both arms",
+    "Grab the orange-white hamburg with yellow highlight, pick the Light yellow fries in red holder, then set them on the tray with rounded rectangular shape",
+    "Lift the white part with orange edges hamburg and the Potato fries packaged in red carton, placing them neatly on the medium rectangular flat tray.",
+    "Lift the hand-sized orange hamburg and the Red fries box, position them on the plastic tray for carrying items",
+    "Take the orange-white hamburg with yellow highlight and the Rectangular red carton holding fries, place them onto the medium rectangular flat tray.",
+    "Pick up the yellow marked white and orange hamburg, then the Rectangular red carton holding fries, and place them onto the tray for holding items.",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the Golden fries sticks in red carton and set them on the flat tray with rounded corners.",
+    "Put the hand-sized orange hamburg and the Golden fries crispy red package container on the light beige smooth tray using both arms",
+    "Move the rounded hamburg with painted details and the French fries in red packaging to the tray with smooth plastic surface using both arms.",
+    "With two arms, pick the orange-white hamburg with yellow highlight and the Bright red box with fries inside for the smooth rectangular tray.",
+    "Using dual arms, move the hamburg with yellow mark and the Red fries box onto the medium rectangular flat tray.",
+    "Use both arms to move the yellow marked white and orange hamburg and the Potato fries packaged in red carton to the rectangular beige tray for objects.",
+    "Grab the rounded hamburg with painted details and the Rectangular red carton holding fries and position them on the rectangular beige tray for objects.",
+    "With dual arms, move the irregular shaped hamburg and the Potato fries packaged in red carton onto the flat tray with rounded corners.",
+    "Set the orange hamburg and the Small red box fries inside on the smooth light beige plastic tray using two arms.",
+    "Use dual arms to place the orange-white hamburg with yellow highlight and the Red fries box onto the plastic tray for carrying items",
+    "Place the hamburg with yellow mark and the Golden fries crispy red package container on the tray with rounded rectangular shape after picking them up.",
+    "Move the orange hamburg and the Palm-sized red fries container onto the plastic tray for carrying items with both arms.",
+    "Position the yellow marked white and orange hamburg and the Golden fries sticks in red carton on the rectangular beige tray for objects with both arms.",
+    "Pick up the orange hamburg and the French fries in red packaging one by one and place on the flat tray with rounded corners.",
+    "Grab the orange-white hamburg with yellow highlight, then the Light yellow fries in red holder, and set them on the medium rectangular flat tray.",
+    "Set the white part with orange edges hamburg and the French fries in red packaging down on the tray for holding items after picking them.",
+    "Place the orange-white hamburg with yellow highlight and the Rectangular red carton holding fries together onto the light beige smooth tray.",
+    "Place the irregular shaped hamburg and the French fries in red packaging onto the tray with rounded rectangular shape using dual arms"
+  ],
+  "unseen": [
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the beige tray with soft edges.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the beige tray with soft edges.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the rectangular beige tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with white and orange and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the rectangular beige tray.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the medium beige plastic tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the rectangular beige tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the beige tray with soft edges.",
+    "Place the hamburg with soft texture and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with curved surfaces and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Use both arms to grab the hamburg with white and orange and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the beige tray with soft edges.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001038.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the hamburg with crumpled edges, pick the Open-top red box filled with fries, then set them on the medium beige tray with flat base",
+    "Pick up the palm-sized hamburg packaging and the Red fries box one by one and place on the medium rectangular flat tray.",
+    "Grab the hamburg with yellow and brown marks, grab the Open-top red box filled with fries, and set both onto the smooth light beige plastic tray.",
+    "Take the white hamburg with creased wrapper and the Small red box fries inside with both arms and set on the tray for holding items.",
+    "Move the rectangular hamburg wrap with printed design and the French fries in red packaging to the plastic tray for carrying items using both arms.",
+    "Use both arms to move the palm-sized hamburg packaging and the Palm-sized red fries container to the medium beige tray with flat base.",
+    "Lift the hamburg with printed illustrations and the Small red box fries inside and position them on the tray with smooth plastic surface.",
+    "Move the white hamburg and the Potato fries packaged in red carton with dual arms to the tray with rounded rectangular shape.",
+    "Take the palm-sized hamburg packaging, take the Handheld fries pack bright red color, and place them onto the tray for holding items.",
+    "Use both arms to transfer the yellow and brown patterned hamburg and the Palm-sized red fries container to the tray with smooth plastic surface.",
+    "Set the hamburg with printed illustrations and the Handheld fries pack bright red color down on the tray for holding items after picking them.",
+    "Lift the smooth white hamburg wrap with yellow spots, lift the Handheld fries pack bright red color, then set both on the smooth rectangular tray.",
+    "Move the hamburg with crumpled edges and the Small red box fries inside onto the rectangular beige tray for objects with both arms.",
+    "With dual arms, move the hamburg with printed illustrations and the Potato fries packaged in red carton onto the medium beige tray with flat base.",
+    "Move the rectangular hamburg wrap with printed design and the Golden fries crispy red package container to the light beige smooth tray with both arms",
+    "Transfer the yellow and brown patterned hamburg and the Small red box fries inside to the beige tray with both arms",
+    "Take the rectangular hamburg wrap with printed design and the Potato fries packaged in red carton to the smooth light beige plastic tray and set them there.",
+    "Pick up the yellow and brown patterned hamburg and the Red fries box, then put them on the tray for holding items",
+    "Set the hamburg with crumpled edges and the Light yellow fries in red holder on the light beige smooth tray using two arms.",
+    "Grab the white hamburg with yellow and brown stains, then the French fries in red packaging, and set them on the medium beige tray with flat base.",
+    "Pick the white hamburg with creased wrapper and the Handheld fries pack bright red color, and set them on the tray with rounded rectangular shape.",
+    "Use dual arms to move the yellow and brown patterned hamburg and the Bright red box with fries inside onto the light beige smooth tray",
+    "Using both arms, set the wrapped hamburg with white plastic-like cover and the Red fries box onto the smooth rectangular tray.",
+    "Position the white hamburg with yellow and brown stains and the Small red box fries inside on the plastic tray for carrying items with both arms.",
+    "Place the white hamburg and the Palm-sized red fries container together onto the tray with rounded rectangular shape.",
+    "Use dual arms to place the white hamburg and the Palm-sized red fries container onto the beige tray",
+    "Grab the wrapped hamburg with white plastic-like cover and the Golden fries crispy red package container and position them on the medium rectangular flat tray.",
+    "Using dual arms, lift the rectangular hamburg wrap with printed design and the Golden fries crispy red package container and drop them on the light beige smooth tray.",
+    "Using both arms, grab the hamburg with crumpled edges and the Golden fries crispy red package container for the light beige smooth tray.",
+    "Pick up the smooth white hamburg wrap with yellow spots, grab the Handheld fries pack bright red color, place them on the tray with smooth plastic surface",
+    "Place the rectangular hamburg wrap with printed design and the Small red box fries inside onto the flat tray with rounded corners after picking them up.",
+    "Put the yellow and brown patterned hamburg and the Potato fries packaged in red carton on the medium beige tray with flat base using both arms",
+    "Pick the hamburg with printed illustrations, the Small red box fries inside, and place them on the medium rectangular flat tray using both arms.",
+    "Pick up the smooth white hamburg wrap with yellow spots, then the Light yellow fries in red holder, and place them onto the rectangular beige tray for objects.",
+    "Place the white hamburg and the French fries in red packaging onto the medium rectangular flat tray using dual arms",
+    "Place the smooth white hamburg wrap with yellow spots and the Small red box fries inside on the tray with rounded rectangular shape after picking them up.",
+    "Lift the hamburg with yellow and brown marks and the Golden fries crispy red package container, position them on the beige tray",
+    "Grab the palm-sized hamburg packaging with one arm and the Golden fries crispy red package container with the other for the tray with smooth plastic surface.",
+    "Grab the smooth white hamburg wrap with yellow spots and the Golden fries crispy red package container, use both arms to set on the smooth rectangular tray.",
+    "Lift the wrapped hamburg with white plastic-like cover and the Red fries box, placing them neatly on the medium beige tray with flat base.",
+    "Use both arms to move the white hamburg and the Golden fries crispy red package container to the beige tray.",
+    "Using dual arms, move the white hamburg with yellow and brown stains and the Potato fries packaged in red carton onto the beige tray.",
+    "Pick up the hamburg with yellow and brown marks and the French fries in red packaging, then put both on the tray with rounded rectangular shape.",
+    "Pick the hamburg with crumpled edges, then the Bright red box with fries inside, and place them on the tray with smooth plastic surface.",
+    "With two arms, pick the hamburg with yellow and brown marks and the French fries in red packaging for the tray with rounded rectangular shape.",
+    "Use dual arms to grab the palm-sized hamburg packaging and the Bright red box with fries inside and set them on the tray with rounded rectangular shape.",
+    "Take the hamburg with crumpled edges and the Palm-sized red fries container, place them onto the tray for holding items.",
+    "Using both arms, pick the hamburg with yellow and brown marks and the Open-top red box filled with fries and drop them on the medium beige tray with flat base.",
+    "Place both the yellow and brown patterned hamburg and the Red fries box on the tray with smooth plastic surface after grabbing them with both arms.",
+    "Grab the rectangular hamburg wrap with printed design and the Small red box fries inside, then put them on the tray with rounded rectangular shape.",
+    "Grab the hamburg with crumpled edges, pick the Rectangular red carton holding fries, then set them on the plastic tray for carrying items",
+    "Pick up the white hamburg with yellow and brown stains and the Palm-sized red fries container one by one and place on the tray for holding items.",
+    "Grab the wrapped hamburg with white plastic-like cover, grab the Bright red box with fries inside, and set both onto the medium beige tray with flat base.",
+    "Take the smooth white hamburg packaging and the Potato fries packaged in red carton with both arms and set on the smooth rectangular tray.",
+    "Move the rectangular hamburg wrap with printed design and the Red fries box to the smooth rectangular tray using both arms.",
+    "Use both arms to move the hamburg with yellow and brown marks and the Small red box fries inside to the light beige smooth tray.",
+    "Lift the wrapped hamburg with white plastic-like cover and the Red fries box and position them on the rectangular beige tray for objects.",
+    "Move the hamburg with printed illustrations and the Palm-sized red fries container with dual arms to the plastic tray for carrying items.",
+    "Take the smooth white hamburg wrap with yellow spots, take the Potato fries packaged in red carton, and place them onto the tray for holding items.",
+    "Use both arms to transfer the smooth white hamburg wrap with yellow spots and the Open-top red box filled with fries to the medium rectangular flat tray.",
+    "Set the rectangular hamburg wrap with printed design and the Red fries box down on the tray for holding items after picking them.",
+    "Lift the wrapped hamburg with white plastic-like cover, lift the Potato fries packaged in red carton, then set both on the tray for holding items.",
+    "Move the yellow and brown patterned hamburg and the Light yellow fries in red holder onto the tray with smooth plastic surface with both arms.",
+    "With dual arms, move the white hamburg and the Open-top red box filled with fries onto the smooth light beige plastic tray.",
+    "Move the hamburg with yellow and brown marks and the Small red box fries inside to the rectangular beige tray for objects with both arms",
+    "Transfer the white hamburg and the Handheld fries pack bright red color to the light beige smooth tray with both arms",
+    "Take the white hamburg with yellow and brown stains and the Small red box fries inside to the rectangular beige tray for objects and set them there.",
+    "Pick up the yellow and brown patterned hamburg and the Golden fries sticks in red carton, then put them on the smooth rectangular tray",
+    "Set the palm-sized hamburg packaging and the Red fries box on the light beige smooth tray using two arms.",
+    "Grab the yellow and brown patterned hamburg, then the French fries in red packaging, and set them on the beige tray.",
+    "Pick the hamburg with crumpled edges and the Bright red box with fries inside, and set them on the medium beige tray with flat base.",
+    "Use dual arms to move the white hamburg and the Bright red box with fries inside onto the tray with rounded rectangular shape",
+    "Using both arms, set the palm-sized hamburg packaging and the French fries in red packaging onto the tray with rounded rectangular shape.",
+    "Position the palm-sized hamburg packaging and the Rectangular red carton holding fries on the medium rectangular flat tray with both arms.",
+    "Place the hamburg with yellow and brown marks and the French fries in red packaging together onto the tray with rounded rectangular shape.",
+    "Use dual arms to place the palm-sized hamburg packaging and the French fries in red packaging onto the tray with smooth plastic surface",
+    "Grab the white hamburg with yellow and brown stains and the Golden fries sticks in red carton and position them on the tray with rounded rectangular shape.",
+    "Using dual arms, lift the hamburg with printed illustrations and the Golden fries crispy red package container and drop them on the flat tray with rounded corners.",
+    "Using both arms, grab the white hamburg with yellow and brown stains and the Golden fries sticks in red carton for the tray with smooth plastic surface.",
+    "Pick up the white hamburg with creased wrapper, grab the Palm-sized red fries container, place them on the flat tray with rounded corners",
+    "Place the hamburg with yellow and brown marks and the Red fries box onto the flat tray with rounded corners after picking them up.",
+    "Put the hamburg with printed illustrations and the Small red box fries inside on the light beige smooth tray using both arms",
+    "Pick the white hamburg with creased wrapper, the Handheld fries pack bright red color, and place them on the rectangular beige tray for objects using both arms.",
+    "Pick up the hamburg with yellow and brown marks, then the Open-top red box filled with fries, and place them onto the light beige smooth tray.",
+    "Place the hamburg with printed illustrations and the Small red box fries inside onto the rectangular beige tray for objects using dual arms",
+    "Place the hamburg with crumpled edges and the Light yellow fries in red holder on the rectangular beige tray for objects after picking them up.",
+    "Lift the wrapped hamburg with white plastic-like cover and the Light yellow fries in red holder, position them on the tray with rounded rectangular shape",
+    "Grab the wrapped hamburg with white plastic-like cover with one arm and the Golden fries crispy red package container with the other for the tray with smooth plastic surface.",
+    "Grab the white hamburg with creased wrapper and the Handheld fries pack bright red color, use both arms to set on the smooth rectangular tray.",
+    "Lift the smooth white hamburg packaging and the Golden fries sticks in red carton, placing them neatly on the light beige smooth tray.",
+    "Use both arms to move the hamburg with yellow and brown marks and the Red fries box to the medium rectangular flat tray.",
+    "Using dual arms, move the wrapped hamburg with white plastic-like cover and the Bright red box with fries inside onto the tray with smooth plastic surface.",
+    "Pick up the white hamburg with yellow and brown stains and the Palm-sized red fries container, then put both on the flat tray with rounded corners.",
+    "Pick the smooth white hamburg wrap with yellow spots, then the Palm-sized red fries container, and place them on the beige tray.",
+    "With two arms, pick the yellow and brown patterned hamburg and the Golden fries crispy red package container for the medium rectangular flat tray.",
+    "Use dual arms to grab the white hamburg and the Golden fries sticks in red carton and set them on the flat tray with rounded corners.",
+    "Take the rectangular hamburg wrap with printed design and the Golden fries sticks in red carton, place them onto the smooth light beige plastic tray.",
+    "Using both arms, pick the hamburg with printed illustrations and the Bright red box with fries inside and drop them on the beige tray.",
+    "Place both the white hamburg and the Palm-sized red fries container on the rectangular beige tray for objects after grabbing them with both arms.",
+    "Grab the white hamburg with yellow and brown stains and the Golden fries sticks in red carton, then put them on the plastic tray for carrying items."
+  ],
+  "unseen": [
+    "Pick up the hamburg with uneven white surface and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Place the rounded rectangular hamburg wrap and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Use both arms to place the hamburg with uneven white surface and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Pick the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box together, setting them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick the hamburg with uneven white surface and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Place the rounded rectangular hamburg wrap and the Golden fries in red carton box onto the beige tray with soft edges.",
+    "Use both arms to place the hamburg with uneven white surface and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, place them on the beige tray with soft edges.",
+    "Grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Red carton box fries crispy golden and place them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Pick the rounded rectangular hamburg wrap and the Golden fries in red carton box, then place them on the medium beige plastic tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Place the hamburg with uneven white surface and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the Crispy potato fries with red box on the beige tray with soft edges.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden and set them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then set them on the medium beige plastic tray",
+    "Place the hamburg with uneven white surface and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with uneven white surface and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Grab the rounded rectangular hamburg wrap and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Place the hamburg with uneven white surface and the Golden fries in red carton box onto the beige tray with soft edges.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Red carton box fries crispy golden and set them on the rectangular beige tray.",
+    "Pick the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place on the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, then drop on the rectangular beige tray",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Place the hamburg with uneven white surface and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Use both arms to grab the hamburg with uneven white surface and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Pick the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Grab the rounded rectangular hamburg wrap and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place them on the beige tray with soft edges.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Place the rounded rectangular hamburg wrap and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Pick the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place them on the beige tray with soft edges.",
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Place the rounded rectangular hamburg wrap and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to place the hamburg with uneven white surface and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Place the rounded rectangular hamburg wrap and the Golden fries in red carton box onto the beige tray with soft edges.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Golden fries in red carton box on the rectangular beige tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Red carton box fries crispy golden and set them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box and place them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Grab the rounded rectangular hamburg wrap and the Golden fries in red carton box, then set them on the beige tray with soft edges",
+    "Place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden on the beige tray with soft edges.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Golden fries in red carton box and place them on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001042.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white part with orange edges hamburg, the Potato fries packaged in red carton, and place them on the dark rectangular serving tray using both arms.",
+    "Move the yellow marked white and orange hamburg and the Red fries box with dual arms to the medium dark brown tray.",
+    "Put the orange hamburg and the Golden fries sticks in red carton on the medium-sized dark brown tray using both arms",
+    "Move the orange hamburg with white underside and the Handheld fries pack bright red color to the brown tray using both arms.",
+    "Place the yellow marked white and orange hamburg and the Rectangular red carton holding fries together onto the tray with slightly raised edges.",
+    "Take the rounded hamburg with painted details and the French fries in red packaging with both arms and set on the brown tray.",
+    "Lift the smooth orange and white hamburg and the Handheld fries pack bright red color, placing them neatly on the dark rectangular serving tray.",
+    "Lift the orange hamburg, lift the Bright red box with fries inside, then set both on the medium-sized dark brown tray.",
+    "Using both arms, grab the orange hamburg with white underside and the Handheld fries pack bright red color for the brown tray.",
+    "Use both arms to move the hamburg with yellow mark and the Small red box fries inside to the smooth plastic tray.",
+    "Pick up the orange hamburg, then the Open-top red box filled with fries, and place them onto the smooth plastic tray.",
+    "Set the orange hamburg with white underside and the Potato fries packaged in red carton on the brown tray with rim using two arms.",
+    "Lift the orange hamburg and the Rectangular red carton holding fries and position them on the medium-sized dark brown tray.",
+    "Using dual arms, lift the irregular shaped hamburg and the Small red box fries inside and drop them on the brown tray with rim.",
+    "Use both arms to transfer the orange hamburg with white underside and the French fries in red packaging to the tray with slightly raised edges.",
+    "Grab the orange hamburg with white underside and the Open-top red box filled with fries and position them on the rectangular plastic tray.",
+    "Place the yellow marked white and orange hamburg and the Golden fries sticks in red carton on the flat brown tray with raised edges after picking them up.",
+    "Use both arms to move the orange hamburg with white underside and the Palm-sized red fries container to the flat brown tray with raised edges.",
+    "Pick the small rounded hamburg and the Bright red box with fries inside, and set them on the rectangular tray.",
+    "Lift the smooth orange and white hamburg and the Palm-sized red fries container, position them on the rectangular tray",
+    "Grab the decorative rounded hamburg and the Potato fries packaged in red carton, then put them on the dark rectangular serving tray.",
+    "Use dual arms to grab the orange hamburg and the Red fries box and set them on the rectangular plastic tray.",
+    "Take the orange hamburg, take the Handheld fries pack bright red color, and place them onto the brown tray with rim.",
+    "Use dual arms to move the hamburg with yellow mark and the Palm-sized red fries container onto the flat tray with smooth surface",
+    "Take the orange hamburg and the Palm-sized red fries container, place them onto the rectangular tray.",
+    "Place the white part with orange edges hamburg and the Bright red box with fries inside onto the tray with slightly raised edges after picking them up.",
+    "Pick the orange hamburg, then the Golden fries crispy red package container, and place them on the flat brown tray with raised edges.",
+    "Pick up the white part with orange edges hamburg, grab the Palm-sized red fries container, place them on the rectangular tray",
+    "Grab the orange-white hamburg with yellow highlight and the Golden fries crispy red package container, use both arms to set on the rectangular plastic tray.",
+    "Place both the rounded hamburg with painted details and the Rectangular red carton holding fries on the smooth plastic tray after grabbing them with both arms.",
+    "With two arms, pick the orange hamburg and the Potato fries packaged in red carton for the dark rectangular serving tray.",
+    "Pick up the yellow marked white and orange hamburg and the Potato fries packaged in red carton one by one and place on the smooth plastic tray.",
+    "Transfer the hand-sized orange hamburg and the Golden fries sticks in red carton to the flat tray with smooth surface with both arms",
+    "Position the orange-white hamburg with yellow highlight and the French fries in red packaging on the flat tray with smooth surface with both arms.",
+    "Move the smooth orange and white hamburg and the Golden fries sticks in red carton onto the flat tray with smooth surface with both arms.",
+    "Pick up the decorative rounded hamburg and the Rectangular red carton holding fries, then put both on the rectangular tray.",
+    "Pick up the white part with orange edges hamburg and the Palm-sized red fries container, then put them on the brown tray",
+    "Grab the yellow marked white and orange hamburg, grab the Palm-sized red fries container, and set both onto the rectangular plastic tray.",
+    "Place the irregular shaped hamburg and the Open-top red box filled with fries onto the tray for holding things using dual arms",
+    "Using both arms, set the hamburg with yellow mark and the Golden fries crispy red package container onto the smooth plastic tray.",
+    "Use dual arms to place the small rounded hamburg and the Red fries box onto the rectangular tray",
+    "Using both arms, pick the hand-sized orange hamburg and the Open-top red box filled with fries and drop them on the rectangular plastic tray.",
+    "Grab the small rounded hamburg, pick the Bright red box with fries inside, then set them on the rectangular plastic tray",
+    "Grab the irregular shaped hamburg with one arm and the Handheld fries pack bright red color with the other for the tray for holding things.",
+    "Take the white part with orange edges hamburg and the Palm-sized red fries container to the flat tray with smooth surface and set them there.",
+    "Grab the smooth orange and white hamburg, then the Red fries box, and set them on the medium dark brown tray.",
+    "Move the orange-white hamburg with yellow highlight and the Open-top red box filled with fries to the dark rectangular serving tray with both arms",
+    "With dual arms, move the orange hamburg and the Bright red box with fries inside onto the rectangular tray.",
+    "Using dual arms, move the small rounded hamburg and the French fries in red packaging onto the medium dark brown tray.",
+    "Set the yellow marked white and orange hamburg and the Small red box fries inside down on the tray for holding things after picking them.",
+    "Pick the orange hamburg with white underside, the Palm-sized red fries container, and place them on the flat brown tray with raised edges using both arms.",
+    "Move the smooth orange and white hamburg and the Golden fries crispy red package container with dual arms to the brown tray.",
+    "Put the orange hamburg and the Golden fries crispy red package container on the brown tray using both arms",
+    "Move the irregular shaped hamburg and the Small red box fries inside to the brown tray with rim using both arms.",
+    "Place the white part with orange edges hamburg and the French fries in red packaging together onto the medium-sized dark brown tray.",
+    "Take the orange hamburg with white underside and the Rectangular red carton holding fries with both arms and set on the rectangular plastic tray.",
+    "Lift the orange hamburg with white underside and the Rectangular red carton holding fries, placing them neatly on the smooth plastic tray.",
+    "Lift the hand-sized orange hamburg, lift the Palm-sized red fries container, then set both on the rectangular tray.",
+    "Using both arms, grab the orange hamburg with white underside and the Handheld fries pack bright red color for the medium-sized dark brown tray.",
+    "Use both arms to move the rounded hamburg with painted details and the Palm-sized red fries container to the flat brown tray with raised edges.",
+    "Pick up the orange hamburg with white underside, then the Rectangular red carton holding fries, and place them onto the tray for holding things.",
+    "Set the irregular shaped hamburg and the Bright red box with fries inside on the smooth plastic tray using two arms.",
+    "Lift the orange hamburg and the Open-top red box filled with fries and position them on the smooth plastic tray.",
+    "Using dual arms, lift the yellow marked white and orange hamburg and the Golden fries crispy red package container and drop them on the rectangular plastic tray.",
+    "Use both arms to transfer the smooth orange and white hamburg and the Light yellow fries in red holder to the brown tray.",
+    "Grab the small rounded hamburg and the Light yellow fries in red holder and position them on the smooth plastic tray.",
+    "Place the rounded hamburg with painted details and the French fries in red packaging on the tray for holding things after picking them up.",
+    "Use both arms to move the yellow marked white and orange hamburg and the Rectangular red carton holding fries to the flat tray with smooth surface.",
+    "Pick the orange hamburg and the Small red box fries inside, and set them on the brown tray.",
+    "Lift the irregular shaped hamburg and the Potato fries packaged in red carton, position them on the flat tray with smooth surface",
+    "Grab the orange hamburg with white underside and the Rectangular red carton holding fries, then put them on the brown tray.",
+    "Use dual arms to grab the irregular shaped hamburg and the Open-top red box filled with fries and set them on the tray for holding things.",
+    "Take the smooth orange and white hamburg, take the Golden fries crispy red package container, and place them onto the medium dark brown tray.",
+    "Use dual arms to move the hamburg with yellow mark and the French fries in red packaging onto the flat brown tray with raised edges",
+    "Take the rounded hamburg with painted details and the Light yellow fries in red holder, place them onto the brown tray with rim.",
+    "Place the orange-white hamburg with yellow highlight and the Golden fries crispy red package container onto the rectangular plastic tray after picking them up.",
+    "Pick the smooth orange and white hamburg, then the Red fries box, and place them on the dark rectangular serving tray.",
+    "Pick up the small rounded hamburg, grab the Red fries box, place them on the smooth plastic tray",
+    "Grab the white part with orange edges hamburg and the Small red box fries inside, use both arms to set on the flat brown tray with raised edges.",
+    "Place both the orange hamburg with white underside and the Handheld fries pack bright red color on the tray for holding things after grabbing them with both arms.",
+    "With two arms, pick the hand-sized orange hamburg and the Bright red box with fries inside for the brown tray with rim.",
+    "Pick up the small rounded hamburg and the Handheld fries pack bright red color one by one and place on the rectangular tray.",
+    "Transfer the irregular shaped hamburg and the Light yellow fries in red holder to the flat tray with smooth surface with both arms",
+    "Position the hamburg with yellow mark and the Small red box fries inside on the rectangular tray with both arms.",
+    "Move the orange hamburg with white underside and the French fries in red packaging onto the tray with slightly raised edges with both arms.",
+    "Pick up the orange hamburg and the Golden fries sticks in red carton, then put both on the rectangular tray.",
+    "Pick up the orange-white hamburg with yellow highlight and the Palm-sized red fries container, then put them on the brown tray with rim",
+    "Grab the white part with orange edges hamburg, grab the Golden fries crispy red package container, and set both onto the brown tray.",
+    "Place the orange-white hamburg with yellow highlight and the Potato fries packaged in red carton onto the dark rectangular serving tray using dual arms",
+    "Using both arms, set the yellow marked white and orange hamburg and the Light yellow fries in red holder onto the rectangular tray.",
+    "Use dual arms to place the hand-sized orange hamburg and the Handheld fries pack bright red color onto the tray with slightly raised edges",
+    "Using both arms, pick the orange-white hamburg with yellow highlight and the Handheld fries pack bright red color and drop them on the dark rectangular serving tray.",
+    "Grab the white part with orange edges hamburg, pick the Rectangular red carton holding fries, then set them on the flat tray with smooth surface",
+    "Grab the orange hamburg with one arm and the Small red box fries inside with the other for the smooth plastic tray.",
+    "Take the smooth orange and white hamburg and the Rectangular red carton holding fries to the medium dark brown tray and set them there.",
+    "Grab the orange hamburg with white underside, then the Open-top red box filled with fries, and set them on the medium-sized dark brown tray.",
+    "Move the orange-white hamburg with yellow highlight and the Small red box fries inside to the medium dark brown tray with both arms",
+    "With dual arms, move the yellow marked white and orange hamburg and the Open-top red box filled with fries onto the brown tray with rim.",
+    "Using dual arms, move the rounded hamburg with painted details and the Golden fries sticks in red carton onto the tray for holding things.",
+    "Set the irregular shaped hamburg and the Rectangular red carton holding fries down on the medium dark brown tray after picking them."
+  ],
+  "unseen": [
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the medium flat tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the medium flat tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the medium flat tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the tray for carrying items.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg with white and orange and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the medium flat tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the medium flat tray.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the medium flat tray.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with curved surfaces and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Place the hamburg with white and orange and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg with curved surfaces and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001048.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Transfer the bright yellow hamburg box with logo and the red box with golden sticks to the rectangular tray with both arms",
+    "Pick up the yellow box for hamburg, grab the red container with yellow fries, place them on the orange tray with smooth surface",
+    "Using both arms, pick the yellow hamburg box and the thin crispy potato fries and drop them on the rectangular tray.",
+    "Take the yellow hamburg box, take the crispy fries in hand-sized pouch, and place them onto the orange tray.",
+    "Put the smooth yellow hamburg packaging and the McDonald's fries bag on the bright orange rectangular tray using both arms",
+    "Grab the foldable hamburg cardboard box and the golden fries in red packaging, then put them on the bright orange rectangular tray.",
+    "Set the rectangular hamburg box and the McDonald's fries bag down on the bright orange tray for serving after picking them.",
+    "Pick the foldable hamburg cardboard box, the golden fries in smooth red pouch, and place them on the bright orange tray with glossy finish using both arms.",
+    "With two arms, pick the medium-sized yellow hamburg package and the small red fries packet for the smooth plastic tray.",
+    "Using dual arms, lift the medium-sized box with hamburg design and the golden fries in smooth red pouch and drop them on the orange tray.",
+    "Use both arms to transfer the yellow hamburg box with white accents and the red box with golden sticks to the bright orange tray with glossy finish.",
+    "Use both arms to move the yellow hamburg box with white accents and the red fries packet to the medium bright orange tray.",
+    "Grab the white lid with yellow bottom hamburg box and the crispy fries in hand-sized pouch, use both arms to set on the orange tray.",
+    "Using both arms, grab the foldable hamburg cardboard box and the bright red fries holder for the orange tray with smooth surface.",
+    "Move the yellow box for hamburg and the McDonald's fries bag with dual arms to the medium-sized plastic tray.",
+    "Lift the rectangular hamburg box and the crispy fries in hand-sized pouch, placing them neatly on the orange tray.",
+    "Use both arms to move the bright yellow hamburg box with logo and the golden fries in smooth red pouch to the smooth glossy orange medium tray.",
+    "Take the smooth yellow hamburg packaging and the McDonald's logo on red fries box with both arms and set on the smooth glossy orange medium tray.",
+    "Position the medium-sized yellow hamburg package and the McDonald's fries bag on the bright orange tray for serving with both arms.",
+    "Move the foldable hamburg cardboard box and the golden fries in smooth red pouch onto the bright orange tray for serving with both arms.",
+    "Place both the smooth yellow hamburg packaging and the crispy fries in hand-sized pouch on the orange tray with smooth surface after grabbing them with both arms.",
+    "Using both arms, set the yellow hamburg box with white accents and the small red fries packet onto the medium-sized plastic tray.",
+    "Pick up the smooth yellow hamburg packaging and the golden fries in red packaging, then put both on the bright orange tray with glossy finish.",
+    "Grab the bright yellow hamburg box with logo with one arm and the small red fries packet with the other for the smooth glossy orange medium tray.",
+    "Place the yellow box for hamburg and the McDonald's logo on red fries box onto the medium bright orange tray using dual arms",
+    "With dual arms, move the white and yellow printed hamburg holder and the red box with golden sticks onto the bright orange rectangular tray.",
+    "Place the rectangular hamburg box and the golden fries in red packaging onto the medium-sized plastic tray after picking them up.",
+    "Move the white lid with yellow bottom hamburg box and the bright red fries holder to the orange tray with smooth surface with both arms",
+    "Lift the smooth yellow hamburg packaging and the small red fries packet, position them on the orange tray",
+    "Pick up the rectangular hamburg box and the red container with yellow fries one by one and place on the medium-sized plastic tray.",
+    "Grab the white and yellow printed hamburg holder, grab the rectangular red fries packet, and set both onto the plastic tray with shiny texture.",
+    "Grab the bright yellow hamburg box with logo, then the McDonald's logo on red fries box, and set them on the smooth plastic tray.",
+    "Lift the medium-sized box with hamburg design, lift the thin crispy potato fries, then set both on the medium-sized plastic tray.",
+    "Lift the yellow hamburg box and the crispy fries in hand-sized pouch and position them on the smooth glossy orange medium tray.",
+    "Set the medium-sized box with hamburg design and the McDonald's fries bag on the plastic tray with shiny texture using two arms.",
+    "Grab the hamburg box with foldable top, pick the McDonald's logo on red fries box, then set them on the medium bright orange tray",
+    "Place the medium-sized box with hamburg design and the rectangular red fries packet together onto the bright orange tray for serving.",
+    "Pick up the rectangular hamburg box, then the McDonald's logo on red fries box, and place them onto the medium bright orange tray.",
+    "Move the hamburg box with foldable top and the McDonald's logo on red fries box to the smooth plastic tray using both arms.",
+    "Use dual arms to place the smooth yellow hamburg packaging and the golden fries in red packaging onto the medium-sized plastic tray",
+    "Pick up the rectangular hamburg box and the thin crispy potato fries, then put them on the plastic tray for holding items",
+    "Take the medium-sized yellow hamburg package and the rectangular red fries packet to the plastic tray with shiny texture and set them there.",
+    "Using dual arms, move the yellow box for hamburg and the golden fries in smooth red pouch onto the bright orange rectangular tray.",
+    "Use dual arms to move the medium-sized box with hamburg design and the crispy fries in hand-sized pouch onto the medium bright orange tray",
+    "Use dual arms to grab the yellow box for hamburg and the McDonald's fries bag and set them on the plastic tray with shiny texture.",
+    "Grab the bright yellow hamburg box with logo and the red box with golden sticks and position them on the smooth plastic tray.",
+    "Pick the rectangular hamburg box, then the golden fries in red packaging, and place them on the smooth glossy orange medium tray.",
+    "Pick the medium-sized box with hamburg design and the red container with yellow fries, and set them on the orange tray.",
+    "Take the white and yellow printed hamburg holder and the McDonald's logo on red fries box, place them onto the bright orange tray for serving.",
+    "Place the bright yellow hamburg box with logo and the thin crispy potato fries on the orange tray after picking them up.",
+    "Transfer the yellow hamburg box and the McDonald's fries bag to the plastic tray with shiny texture with both arms",
+    "Pick up the medium-sized box with hamburg design, grab the golden fries in red packaging, place them on the rectangular tray",
+    "Using both arms, pick the yellow box for hamburg and the golden fries in red packaging and drop them on the plastic tray with shiny texture.",
+    "Take the foldable hamburg cardboard box, take the bright red fries holder, and place them onto the smooth glossy orange medium tray.",
+    "Put the hamburg box with foldable top and the red container with yellow fries on the rectangular tray using both arms",
+    "Grab the hamburg box with foldable top and the red box with golden sticks, then put them on the orange tray.",
+    "Set the yellow box for hamburg and the crispy fries in hand-sized pouch down on the orange tray with smooth surface after picking them.",
+    "Pick the medium-sized yellow hamburg package, the red fries packet, and place them on the bright orange tray for serving using both arms.",
+    "With two arms, pick the medium-sized box with hamburg design and the golden fries in smooth red pouch for the bright orange tray with glossy finish.",
+    "Using dual arms, lift the rectangular hamburg box and the McDonald's logo on red fries box and drop them on the plastic tray with shiny texture.",
+    "Use both arms to transfer the hamburg box with foldable top and the rectangular red fries packet to the bright orange tray for serving.",
+    "Use both arms to move the yellow box for hamburg and the golden fries in smooth red pouch to the bright orange rectangular tray.",
+    "Grab the yellow box for hamburg and the McDonald's fries bag, use both arms to set on the smooth glossy orange medium tray.",
+    "Using both arms, grab the medium-sized yellow hamburg package and the bright red fries holder for the medium bright orange tray.",
+    "Move the yellow hamburg box with white accents and the red box with golden sticks with dual arms to the plastic tray for holding items.",
+    "Lift the medium-sized box with hamburg design and the bright red fries holder, placing them neatly on the plastic tray for holding items.",
+    "Use both arms to move the rectangular hamburg box and the McDonald's fries bag to the medium-sized plastic tray.",
+    "Take the yellow hamburg box and the red box with golden sticks with both arms and set on the plastic tray for holding items.",
+    "Position the medium-sized yellow hamburg package and the small red fries packet on the plastic tray for holding items with both arms.",
+    "Move the yellow hamburg box with white accents and the small red fries packet onto the smooth plastic tray with both arms.",
+    "Place both the bright yellow hamburg box with logo and the red box with golden sticks on the rectangular tray after grabbing them with both arms.",
+    "Using both arms, set the foldable hamburg cardboard box and the McDonald's logo on red fries box onto the plastic tray for holding items.",
+    "Pick up the rectangular hamburg box and the red fries packet, then put both on the plastic tray with shiny texture.",
+    "Grab the smooth yellow hamburg packaging with one arm and the golden fries in red packaging with the other for the plastic tray for holding items.",
+    "Place the yellow hamburg box with white accents and the McDonald's fries bag onto the medium bright orange tray using dual arms",
+    "With dual arms, move the bright yellow hamburg box with logo and the red fries packet onto the rectangular tray.",
+    "Place the hamburg box with foldable top and the thin crispy potato fries onto the rectangular tray after picking them up.",
+    "Move the yellow box for hamburg and the small red fries packet to the bright orange rectangular tray with both arms",
+    "Lift the rectangular hamburg box and the red container with yellow fries, position them on the plastic tray for holding items",
+    "Pick up the smooth yellow hamburg packaging and the red fries packet one by one and place on the plastic tray with shiny texture.",
+    "Grab the rectangular hamburg box, grab the golden fries in smooth red pouch, and set both onto the rectangular tray.",
+    "Grab the medium-sized yellow hamburg package, then the thin crispy potato fries, and set them on the medium bright orange tray.",
+    "Lift the bright yellow hamburg box with logo, lift the red fries packet, then set both on the bright orange tray with glossy finish.",
+    "Lift the white lid with yellow bottom hamburg box and the golden fries in smooth red pouch and position them on the medium-sized plastic tray.",
+    "Set the white and yellow printed hamburg holder and the bright red fries holder on the bright orange tray for serving using two arms.",
+    "Grab the white and yellow printed hamburg holder, pick the rectangular red fries packet, then set them on the medium bright orange tray",
+    "Place the yellow hamburg box and the crispy fries in hand-sized pouch together onto the plastic tray with shiny texture.",
+    "Pick up the yellow hamburg box with white accents, then the McDonald's logo on red fries box, and place them onto the plastic tray with shiny texture.",
+    "Move the foldable hamburg cardboard box and the red fries packet to the plastic tray for holding items using both arms.",
+    "Use dual arms to place the yellow box for hamburg and the McDonald's fries bag onto the rectangular tray",
+    "Pick up the yellow hamburg box with white accents and the rectangular red fries packet, then put them on the plastic tray for holding items",
+    "Take the bright yellow hamburg box with logo and the golden fries in red packaging to the plastic tray with shiny texture and set them there.",
+    "Using dual arms, move the hamburg box with foldable top and the rectangular red fries packet onto the bright orange rectangular tray.",
+    "Use dual arms to move the medium-sized box with hamburg design and the bright red fries holder onto the bright orange rectangular tray",
+    "Use dual arms to grab the yellow hamburg box and the rectangular red fries packet and set them on the medium-sized plastic tray.",
+    "Grab the rectangular hamburg box and the golden fries in smooth red pouch and position them on the orange tray with smooth surface.",
+    "Pick the medium-sized yellow hamburg package, then the red fries packet, and place them on the rectangular tray.",
+    "Pick the yellow hamburg box and the McDonald's fries bag, and set them on the orange tray with smooth surface.",
+    "Take the yellow hamburg box and the red fries packet, place them onto the medium bright orange tray.",
+    "Place the white and yellow printed hamburg holder and the bright red fries holder on the plastic tray for holding items after picking them up."
+  ],
+  "unseen": [
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the hand-sized fries container on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg container and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Place the rectangular cardboard box for hamburg and the hand-sized fries container onto the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg container and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the hand-sized fries container, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg container and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Place the rectangular cardboard box for hamburg and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box and place them on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg container and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the cardboard hamburg container and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder, then set them on the medium-sized tray with rounded corners",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the rectangular tray with rounded edges"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001053.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the hamburg with yellow mark and the Rectangular red carton holding fries on the medium dark brown tray after picking them up.",
+    "Use both arms to move the rounded hamburg with painted details and the Bright red box with fries inside to the rectangular tray.",
+    "Lift the orange hamburg and the Handheld fries pack bright red color, placing them neatly on the flat tray with smooth surface.",
+    "Use both arms to transfer the hamburg with yellow mark and the Palm-sized red fries container to the tray for holding things.",
+    "Grab the orange-white hamburg with yellow highlight with one arm and the Open-top red box filled with fries with the other for the flat brown tray with raised edges.",
+    "Grab the orange hamburg, grab the Handheld fries pack bright red color, and set both onto the brown tray.",
+    "Grab the hand-sized orange hamburg, pick the Golden fries sticks in red carton, then set them on the smooth plastic tray",
+    "Move the small rounded hamburg and the Potato fries packaged in red carton to the tray with slightly raised edges using both arms.",
+    "Pick up the orange hamburg with white underside and the Bright red box with fries inside, then put them on the flat tray with smooth surface",
+    "With dual arms, move the smooth orange and white hamburg and the Red fries box onto the tray for holding things.",
+    "Set the small rounded hamburg and the Small red box fries inside on the tray with slightly raised edges using two arms.",
+    "Take the smooth orange and white hamburg, take the Golden fries crispy red package container, and place them onto the rectangular plastic tray.",
+    "Put the decorative rounded hamburg and the French fries in red packaging on the smooth plastic tray using both arms",
+    "Take the irregular shaped hamburg and the Palm-sized red fries container with both arms and set on the medium dark brown tray.",
+    "Place the orange hamburg with white underside and the Handheld fries pack bright red color onto the brown tray with rim after picking them up.",
+    "Using both arms, pick the yellow marked white and orange hamburg and the Golden fries sticks in red carton and drop them on the medium dark brown tray.",
+    "Lift the hand-sized orange hamburg and the Rectangular red carton holding fries, position them on the rectangular plastic tray",
+    "Place both the orange hamburg with white underside and the Potato fries packaged in red carton on the flat tray with smooth surface after grabbing them with both arms.",
+    "Use both arms to move the orange hamburg and the Palm-sized red fries container to the flat brown tray with raised edges.",
+    "Using both arms, set the orange hamburg with white underside and the Potato fries packaged in red carton onto the tray with slightly raised edges.",
+    "Pick the orange hamburg and the Red fries box, and set them on the medium dark brown tray.",
+    "Transfer the orange hamburg with white underside and the Bright red box with fries inside to the smooth plastic tray with both arms",
+    "Grab the rounded hamburg with painted details and the Rectangular red carton holding fries, use both arms to set on the medium dark brown tray.",
+    "Position the hamburg with yellow mark and the Golden fries sticks in red carton on the tray with slightly raised edges with both arms.",
+    "Take the white part with orange edges hamburg and the Golden fries crispy red package container to the brown tray with rim and set them there.",
+    "Using both arms, grab the white part with orange edges hamburg and the Golden fries crispy red package container for the medium dark brown tray.",
+    "Place the orange hamburg and the Golden fries sticks in red carton together onto the tray with slightly raised edges.",
+    "Pick the rounded hamburg with painted details, the Golden fries crispy red package container, and place them on the dark rectangular serving tray using both arms.",
+    "Grab the orange-white hamburg with yellow highlight and the Potato fries packaged in red carton, then put them on the dark rectangular serving tray.",
+    "Pick up the orange hamburg with white underside and the Handheld fries pack bright red color one by one and place on the medium dark brown tray.",
+    "Pick up the orange hamburg, then the Light yellow fries in red holder, and place them onto the rectangular tray.",
+    "Move the hand-sized orange hamburg and the Potato fries packaged in red carton onto the medium-sized dark brown tray with both arms.",
+    "Move the smooth orange and white hamburg and the Bright red box with fries inside with dual arms to the flat brown tray with raised edges.",
+    "Using dual arms, move the irregular shaped hamburg and the Golden fries sticks in red carton onto the medium-sized dark brown tray.",
+    "With two arms, pick the decorative rounded hamburg and the Red fries box for the tray for holding things.",
+    "Use dual arms to place the orange hamburg with white underside and the Bright red box with fries inside onto the brown tray",
+    "Move the white part with orange edges hamburg and the Potato fries packaged in red carton to the medium dark brown tray with both arms",
+    "Lift the white part with orange edges hamburg, lift the Small red box fries inside, then set both on the tray with slightly raised edges.",
+    "Grab the small rounded hamburg and the Light yellow fries in red holder and position them on the medium dark brown tray.",
+    "Lift the white part with orange edges hamburg and the Golden fries sticks in red carton and position them on the smooth plastic tray.",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the Palm-sized red fries container and set them on the flat tray with smooth surface.",
+    "Pick the hand-sized orange hamburg, then the Light yellow fries in red holder, and place them on the medium dark brown tray.",
+    "Pick up the orange hamburg with white underside and the Palm-sized red fries container, then put both on the medium-sized dark brown tray.",
+    "Take the smooth orange and white hamburg and the Light yellow fries in red holder, place them onto the tray for holding things.",
+    "Set the irregular shaped hamburg and the Potato fries packaged in red carton down on the tray for holding things after picking them.",
+    "Use dual arms to move the decorative rounded hamburg and the Rectangular red carton holding fries onto the medium dark brown tray",
+    "Grab the irregular shaped hamburg, then the Handheld fries pack bright red color, and set them on the rectangular tray.",
+    "Place the white part with orange edges hamburg and the Light yellow fries in red holder onto the smooth plastic tray using dual arms",
+    "Pick up the rounded hamburg with painted details, grab the Handheld fries pack bright red color, place them on the rectangular plastic tray",
+    "Using dual arms, lift the orange hamburg and the Handheld fries pack bright red color and drop them on the brown tray with rim.",
+    "Place the orange-white hamburg with yellow highlight and the Potato fries packaged in red carton on the tray for holding things after picking them up.",
+    "Use both arms to move the yellow marked white and orange hamburg and the Handheld fries pack bright red color to the flat brown tray with raised edges.",
+    "Lift the irregular shaped hamburg and the Red fries box, placing them neatly on the rectangular plastic tray.",
+    "Use both arms to transfer the smooth orange and white hamburg and the Handheld fries pack bright red color to the tray for holding things.",
+    "Grab the white part with orange edges hamburg with one arm and the Handheld fries pack bright red color with the other for the smooth plastic tray.",
+    "Grab the orange-white hamburg with yellow highlight, grab the Red fries box, and set both onto the medium-sized dark brown tray.",
+    "Grab the orange hamburg with white underside, pick the Golden fries sticks in red carton, then set them on the tray for holding things",
+    "Move the irregular shaped hamburg and the French fries in red packaging to the flat brown tray with raised edges using both arms.",
+    "Pick up the rounded hamburg with painted details and the Rectangular red carton holding fries, then put them on the brown tray with rim",
+    "With dual arms, move the smooth orange and white hamburg and the Bright red box with fries inside onto the rectangular tray.",
+    "Set the decorative rounded hamburg and the Bright red box with fries inside on the brown tray with rim using two arms.",
+    "Take the rounded hamburg with painted details, take the Golden fries crispy red package container, and place them onto the rectangular tray.",
+    "Put the hand-sized orange hamburg and the Handheld fries pack bright red color on the flat brown tray with raised edges using both arms",
+    "Take the hamburg with yellow mark and the Open-top red box filled with fries with both arms and set on the medium-sized dark brown tray.",
+    "Place the decorative rounded hamburg and the Potato fries packaged in red carton onto the tray with slightly raised edges after picking them up.",
+    "Using both arms, pick the orange hamburg and the Golden fries sticks in red carton and drop them on the brown tray with rim.",
+    "Lift the orange-white hamburg with yellow highlight and the Potato fries packaged in red carton, position them on the flat brown tray with raised edges",
+    "Place both the orange hamburg and the Open-top red box filled with fries on the rectangular tray after grabbing them with both arms.",
+    "Use both arms to move the hand-sized orange hamburg and the Light yellow fries in red holder to the flat tray with smooth surface.",
+    "Using both arms, set the yellow marked white and orange hamburg and the Palm-sized red fries container onto the dark rectangular serving tray.",
+    "Pick the orange hamburg and the French fries in red packaging, and set them on the smooth plastic tray.",
+    "Transfer the irregular shaped hamburg and the Light yellow fries in red holder to the dark rectangular serving tray with both arms",
+    "Grab the white part with orange edges hamburg and the Bright red box with fries inside, use both arms to set on the tray with slightly raised edges.",
+    "Position the smooth orange and white hamburg and the French fries in red packaging on the tray with slightly raised edges with both arms.",
+    "Take the yellow marked white and orange hamburg and the Bright red box with fries inside to the brown tray and set them there.",
+    "Using both arms, grab the rounded hamburg with painted details and the Handheld fries pack bright red color for the smooth plastic tray.",
+    "Place the decorative rounded hamburg and the French fries in red packaging together onto the smooth plastic tray.",
+    "Pick the orange hamburg with white underside, the Light yellow fries in red holder, and place them on the tray for holding things using both arms.",
+    "Grab the small rounded hamburg and the Handheld fries pack bright red color, then put them on the rectangular plastic tray.",
+    "Pick up the orange hamburg with white underside and the Red fries box one by one and place on the flat brown tray with raised edges.",
+    "Pick up the irregular shaped hamburg, then the Light yellow fries in red holder, and place them onto the smooth plastic tray.",
+    "Move the orange-white hamburg with yellow highlight and the French fries in red packaging onto the tray with slightly raised edges with both arms.",
+    "Move the decorative rounded hamburg and the Bright red box with fries inside with dual arms to the brown tray.",
+    "Using dual arms, move the yellow marked white and orange hamburg and the French fries in red packaging onto the flat tray with smooth surface.",
+    "With two arms, pick the yellow marked white and orange hamburg and the Open-top red box filled with fries for the flat tray with smooth surface.",
+    "Use dual arms to place the yellow marked white and orange hamburg and the Bright red box with fries inside onto the rectangular plastic tray",
+    "Move the hamburg with yellow mark and the Potato fries packaged in red carton to the medium dark brown tray with both arms",
+    "Lift the hand-sized orange hamburg, lift the Bright red box with fries inside, then set both on the medium-sized dark brown tray.",
+    "Grab the orange hamburg and the Red fries box and position them on the flat tray with smooth surface.",
+    "Lift the hand-sized orange hamburg and the Bright red box with fries inside and position them on the dark rectangular serving tray.",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the Potato fries packaged in red carton and set them on the flat brown tray with raised edges.",
+    "Pick the yellow marked white and orange hamburg, then the Bright red box with fries inside, and place them on the smooth plastic tray.",
+    "Pick up the yellow marked white and orange hamburg and the French fries in red packaging, then put both on the brown tray with rim.",
+    "Take the decorative rounded hamburg and the Potato fries packaged in red carton, place them onto the flat tray with smooth surface.",
+    "Set the irregular shaped hamburg and the Handheld fries pack bright red color down on the medium dark brown tray after picking them.",
+    "Use dual arms to move the hand-sized orange hamburg and the Small red box fries inside onto the brown tray with rim",
+    "Grab the small rounded hamburg, then the Golden fries sticks in red carton, and set them on the tray with slightly raised edges.",
+    "Place the white part with orange edges hamburg and the Small red box fries inside onto the flat brown tray with raised edges using dual arms",
+    "Pick up the orange hamburg with white underside, grab the Red fries box, place them on the tray with slightly raised edges",
+    "Using dual arms, lift the hamburg with yellow mark and the Potato fries packaged in red carton and drop them on the rectangular plastic tray."
+  ],
+  "unseen": [
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Place the hamburg with white and orange and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Use both arms to place the hamburg with curved surfaces and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, then place them on the flat brown serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001056.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the irregular shaped hamburg, then the crispy fries in hand-sized pouch, and set them on the orange tray with smooth surface.",
+    "Move the orange-white hamburg with yellow highlight and the golden fries in smooth red pouch with dual arms to the medium bright orange tray.",
+    "Place the hamburg with yellow mark and the red fries packet onto the medium-sized plastic tray using dual arms",
+    "Transfer the small rounded hamburg and the golden fries in red packaging to the orange tray with smooth surface with both arms",
+    "Using both arms, set the white part with orange edges hamburg and the bright red fries holder onto the bright orange tray with glossy finish.",
+    "Use dual arms to move the smooth orange and white hamburg and the golden fries in red packaging onto the plastic tray for holding items",
+    "Pick up the white part with orange edges hamburg, grab the red container with yellow fries, place them on the medium bright orange tray",
+    "Move the orange hamburg and the small red fries packet onto the plastic tray for holding items with both arms.",
+    "Move the orange hamburg and the golden fries in red packaging to the bright orange tray for serving using both arms.",
+    "Put the orange hamburg with white underside and the bright red fries holder on the medium bright orange tray using both arms",
+    "Pick the irregular shaped hamburg, the thin crispy potato fries, and place them on the rectangular tray using both arms.",
+    "Using both arms, pick the small rounded hamburg and the red container with yellow fries and drop them on the rectangular tray.",
+    "Pick up the orange-white hamburg with yellow highlight, then the golden fries in red packaging, and place them onto the medium-sized plastic tray.",
+    "Place the irregular shaped hamburg and the red box with golden sticks on the orange tray after picking them up.",
+    "With two arms, pick the white part with orange edges hamburg and the red box with golden sticks for the smooth plastic tray.",
+    "Grab the hamburg with yellow mark and the red fries packet, use both arms to set on the orange tray.",
+    "Use both arms to move the smooth orange and white hamburg and the red container with yellow fries to the smooth plastic tray.",
+    "Set the hamburg with yellow mark and the rectangular red fries packet down on the orange tray after picking them.",
+    "Grab the orange hamburg with one arm and the bright red fries holder with the other for the rectangular tray.",
+    "With dual arms, move the hamburg with yellow mark and the bright red fries holder onto the smooth glossy orange medium tray.",
+    "Grab the smooth orange and white hamburg, pick the small red fries packet, then set them on the bright orange tray with glossy finish",
+    "Grab the decorative rounded hamburg, grab the McDonald's fries bag, and set both onto the smooth plastic tray.",
+    "Take the rounded hamburg with painted details and the red container with yellow fries with both arms and set on the medium bright orange tray.",
+    "Move the rounded hamburg with painted details and the golden fries in smooth red pouch to the smooth plastic tray with both arms",
+    "Grab the irregular shaped hamburg and the small red fries packet, then put them on the medium bright orange tray.",
+    "Pick up the white part with orange edges hamburg and the crispy fries in hand-sized pouch one by one and place on the bright orange tray with glossy finish.",
+    "Position the yellow marked white and orange hamburg and the McDonald's fries bag on the medium-sized plastic tray with both arms.",
+    "Place both the orange hamburg with white underside and the red container with yellow fries on the medium-sized plastic tray after grabbing them with both arms.",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the golden fries in red packaging and set them on the bright orange tray with glossy finish.",
+    "Use both arms to transfer the small rounded hamburg and the golden fries in smooth red pouch to the bright orange tray for serving.",
+    "Use both arms to move the hamburg with yellow mark and the golden fries in red packaging to the bright orange tray with glossy finish.",
+    "Pick the orange hamburg with white underside, then the bright red fries holder, and place them on the bright orange tray with glossy finish.",
+    "Pick up the yellow marked white and orange hamburg and the McDonald's fries bag, then put both on the bright orange tray for serving.",
+    "Pick the orange hamburg and the red container with yellow fries, and set them on the orange tray.",
+    "Take the orange hamburg with white underside and the golden fries in red packaging, place them onto the plastic tray for holding items.",
+    "Pick up the hamburg with yellow mark and the McDonald's fries bag, then put them on the bright orange rectangular tray",
+    "Set the irregular shaped hamburg and the McDonald's fries bag on the bright orange tray with glossy finish using two arms.",
+    "Using dual arms, lift the white part with orange edges hamburg and the bright red fries holder and drop them on the smooth plastic tray.",
+    "Place the rounded hamburg with painted details and the small red fries packet onto the plastic tray with shiny texture after picking them up.",
+    "Grab the rounded hamburg with painted details and the red fries packet and position them on the smooth glossy orange medium tray.",
+    "Take the white part with orange edges hamburg, take the small red fries packet, and place them onto the rectangular tray.",
+    "Place the orange-white hamburg with yellow highlight and the crispy fries in hand-sized pouch together onto the bright orange rectangular tray.",
+    "Lift the rounded hamburg with painted details, lift the rectangular red fries packet, then set both on the plastic tray with shiny texture.",
+    "Using dual arms, move the orange hamburg with white underside and the bright red fries holder onto the smooth glossy orange medium tray.",
+    "Lift the rounded hamburg with painted details and the red container with yellow fries, placing them neatly on the plastic tray for holding items.",
+    "Use dual arms to place the orange hamburg with white underside and the red container with yellow fries onto the bright orange tray for serving",
+    "Take the hamburg with yellow mark and the rectangular red fries packet to the medium bright orange tray and set them there.",
+    "Lift the hand-sized orange hamburg and the small red fries packet and position them on the smooth glossy orange medium tray.",
+    "Lift the rounded hamburg with painted details and the golden fries in smooth red pouch, position them on the medium bright orange tray",
+    "Using both arms, grab the smooth orange and white hamburg and the small red fries packet for the orange tray.",
+    "Grab the hamburg with yellow mark, then the golden fries in red packaging, and set them on the medium bright orange tray.",
+    "Move the hamburg with yellow mark and the bright red fries holder with dual arms to the bright orange rectangular tray.",
+    "Place the hand-sized orange hamburg and the golden fries in smooth red pouch onto the plastic tray for holding items using dual arms",
+    "Transfer the orange hamburg and the small red fries packet to the plastic tray for holding items with both arms",
+    "Using both arms, set the irregular shaped hamburg and the golden fries in smooth red pouch onto the plastic tray with shiny texture.",
+    "Use dual arms to move the small rounded hamburg and the small red fries packet onto the smooth glossy orange medium tray",
+    "Pick up the smooth orange and white hamburg, grab the red box with golden sticks, place them on the smooth plastic tray",
+    "Move the hamburg with yellow mark and the golden fries in red packaging onto the bright orange tray with glossy finish with both arms.",
+    "Move the smooth orange and white hamburg and the McDonald's logo on red fries box to the orange tray using both arms.",
+    "Put the orange hamburg with white underside and the golden fries in smooth red pouch on the plastic tray for holding items using both arms",
+    "Pick the rounded hamburg with painted details, the crispy fries in hand-sized pouch, and place them on the medium bright orange tray using both arms.",
+    "Using both arms, pick the white part with orange edges hamburg and the McDonald's logo on red fries box and drop them on the smooth glossy orange medium tray.",
+    "Pick up the hamburg with yellow mark, then the thin crispy potato fries, and place them onto the plastic tray with shiny texture.",
+    "Place the orange-white hamburg with yellow highlight and the golden fries in red packaging on the bright orange tray with glossy finish after picking them up.",
+    "With two arms, pick the orange hamburg and the bright red fries holder for the rectangular tray.",
+    "Grab the hand-sized orange hamburg and the McDonald's fries bag, use both arms to set on the smooth glossy orange medium tray.",
+    "Use both arms to move the hand-sized orange hamburg and the McDonald's logo on red fries box to the plastic tray for holding items.",
+    "Set the orange hamburg with white underside and the thin crispy potato fries down on the rectangular tray after picking them.",
+    "Grab the yellow marked white and orange hamburg with one arm and the rectangular red fries packet with the other for the medium-sized plastic tray.",
+    "With dual arms, move the white part with orange edges hamburg and the bright red fries holder onto the medium-sized plastic tray.",
+    "Grab the yellow marked white and orange hamburg, pick the McDonald's fries bag, then set them on the orange tray",
+    "Grab the orange hamburg, grab the red box with golden sticks, and set both onto the orange tray.",
+    "Take the white part with orange edges hamburg and the McDonald's fries bag with both arms and set on the orange tray with smooth surface.",
+    "Move the white part with orange edges hamburg and the crispy fries in hand-sized pouch to the rectangular tray with both arms",
+    "Grab the smooth orange and white hamburg and the golden fries in smooth red pouch, then put them on the medium-sized plastic tray.",
+    "Pick up the yellow marked white and orange hamburg and the rectangular red fries packet one by one and place on the bright orange rectangular tray.",
+    "Position the smooth orange and white hamburg and the small red fries packet on the medium-sized plastic tray with both arms.",
+    "Place both the yellow marked white and orange hamburg and the red container with yellow fries on the plastic tray for holding items after grabbing them with both arms.",
+    "Use dual arms to grab the decorative rounded hamburg and the golden fries in red packaging and set them on the medium bright orange tray.",
+    "Use both arms to transfer the orange-white hamburg with yellow highlight and the golden fries in red packaging to the medium-sized plastic tray.",
+    "Use both arms to move the orange hamburg with white underside and the thin crispy potato fries to the bright orange tray with glossy finish.",
+    "Pick the smooth orange and white hamburg, then the McDonald's fries bag, and place them on the plastic tray for holding items.",
+    "Pick up the white part with orange edges hamburg and the red box with golden sticks, then put both on the orange tray with smooth surface.",
+    "Pick the orange hamburg and the red box with golden sticks, and set them on the orange tray with smooth surface.",
+    "Take the hand-sized orange hamburg and the thin crispy potato fries, place them onto the smooth plastic tray.",
+    "Pick up the decorative rounded hamburg and the McDonald's logo on red fries box, then put them on the orange tray",
+    "Set the orange-white hamburg with yellow highlight and the bright red fries holder on the orange tray using two arms.",
+    "Using dual arms, lift the orange hamburg with white underside and the McDonald's fries bag and drop them on the rectangular tray.",
+    "Place the orange hamburg with white underside and the rectangular red fries packet onto the orange tray after picking them up.",
+    "Grab the hamburg with yellow mark and the red fries packet and position them on the medium-sized plastic tray.",
+    "Take the yellow marked white and orange hamburg, take the red container with yellow fries, and place them onto the plastic tray for holding items.",
+    "Place the irregular shaped hamburg and the golden fries in smooth red pouch together onto the plastic tray for holding items.",
+    "Lift the white part with orange edges hamburg, lift the golden fries in red packaging, then set both on the rectangular tray.",
+    "Using dual arms, move the decorative rounded hamburg and the crispy fries in hand-sized pouch onto the rectangular tray.",
+    "Lift the yellow marked white and orange hamburg and the red box with golden sticks, placing them neatly on the plastic tray with shiny texture.",
+    "Use dual arms to place the decorative rounded hamburg and the red box with golden sticks onto the orange tray with smooth surface",
+    "Take the white part with orange edges hamburg and the red fries packet to the smooth plastic tray and set them there.",
+    "Lift the hand-sized orange hamburg and the bright red fries holder and position them on the plastic tray for holding items.",
+    "Lift the small rounded hamburg and the red box with golden sticks, position them on the smooth plastic tray",
+    "Using both arms, grab the smooth orange and white hamburg and the golden fries in red packaging for the orange tray with smooth surface."
+  ],
+  "unseen": [
+    "Pick the hamburg with white and orange and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with curved surfaces and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with soft texture and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with curved surfaces and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Pick the hamburg with white and orange and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Place the hamburg with soft texture and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white and orange and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with curved surfaces and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Place the hamburg with white and orange and the golden crispy fries inside red box onto the rectangular bright orange serving tray.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg with soft texture and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Pick up the hamburg with curved surfaces and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Pick the hamburg with soft texture and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg with curved surfaces and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Place the hamburg with white and orange and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white and orange and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with soft texture and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white and orange and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Place the hamburg with curved surfaces and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Grab the hamburg with white and orange and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Pick the hamburg with curved surfaces and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with soft texture and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white and orange and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Place the hamburg with white and orange and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg with soft texture and the hand-sized fries container together, setting them on the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg with soft texture and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white and orange and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white and orange and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white and orange and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg with curved surfaces and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Pick up the hamburg with curved surfaces and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with curved surfaces and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Place the hamburg with white and orange and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg with soft texture and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder together, then drop on the rectangular bright orange serving tray",
+    "Pick up the hamburg with white and orange and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, then place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with soft texture and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Grab the hamburg with white and orange and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Place the hamburg with curved surfaces and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white and orange and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Pick up the hamburg with curved surfaces and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Pick the hamburg with white and orange and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with white and orange and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Pick the hamburg with white and orange and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white and orange and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder, then place on the rectangular bright orange serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001057.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, pick the smooth hamburg and the Small red box fries inside and drop them on the rectangular green tray.",
+    "Place both the medium, squishy hamburg and the Potato fries packaged in red carton on the solid green palm-sized tray after grabbing them with both arms.",
+    "Use dual arms to move the light brown hamburg and the Golden fries crispy red package container onto the single-piece dark green tray",
+    "Lift the hamburg with white patches and the Golden fries crispy red package container and position them on the medium plastic tray.",
+    "Pick up the brownish round hamburg, then the Small red box fries inside, and place them onto the solid green palm-sized tray.",
+    "Using dual arms, lift the medium, squishy hamburg and the French fries in red packaging and drop them on the tray for serving items.",
+    "Grab the medium-sized hamburg, grab the Palm-sized red fries container, and set both onto the plastic tray with curved edges.",
+    "Move the brownish round hamburg and the Palm-sized red fries container onto the tray for serving items with both arms.",
+    "Pick the soft brown bread hamburg, the Bright red box with fries inside, and place them on the smooth texture green tray using both arms.",
+    "Grab the hamburg with uneven top and the Palm-sized red fries container, use both arms to set on the rectangular green tray.",
+    "Take the round, soft bread hamburg, take the French fries in red packaging, and place them onto the tray for holding objects.",
+    "Use both arms to move the hamburg with white patches and the Small red box fries inside to the smooth texture green tray.",
+    "Using both arms, grab the bread bun hamburg and the Handheld fries pack bright red color for the flat green rectangular tray.",
+    "Pick up the brownish round hamburg and the Red fries box, then put both on the tray with rounded corners.",
+    "Use both arms to move the bread bun hamburg and the Rectangular red carton holding fries to the tray with rounded corners.",
+    "Position the medium-sized hamburg and the Small red box fries inside on the dark green serving tray with both arms.",
+    "Put the medium-sized hamburg and the Palm-sized red fries container on the single-piece dark green tray using both arms",
+    "Place the round, soft bread hamburg and the Rectangular red carton holding fries onto the smooth texture green tray using dual arms",
+    "Place the bread bun hamburg and the Red fries box on the flat green rectangular tray after picking them up.",
+    "Grab the light brown hamburg, pick the French fries in red packaging, then set them on the medium plastic tray",
+    "Move the medium-sized hamburg and the Small red box fries inside to the tray for holding objects using both arms.",
+    "With two arms, pick the smooth hamburg and the Palm-sized red fries container for the dark green serving tray.",
+    "Lift the hamburg with patterned brown surface and the Potato fries packaged in red carton, position them on the dark green serving tray",
+    "Grab the medium-sized hamburg and the Handheld fries pack bright red color, then put them on the medium plastic tray.",
+    "Grab the hamburg with uneven top, then the Palm-sized red fries container, and set them on the solid green palm-sized tray.",
+    "Take the hamburg with white patches and the Red fries box, place them onto the smooth texture green tray.",
+    "Transfer the light brown hamburg and the Potato fries packaged in red carton to the tray for holding objects with both arms",
+    "Take the round hamburg and the Potato fries packaged in red carton to the rectangular green tray and set them there.",
+    "Use dual arms to place the round, soft bread hamburg and the Handheld fries pack bright red color onto the tray for holding objects",
+    "Move the round, soft bread hamburg and the Golden fries crispy red package container to the flat green rectangular tray with both arms",
+    "Grab the light brown hamburg with one arm and the Bright red box with fries inside with the other for the single-piece dark green tray.",
+    "Take the medium-sized hamburg and the Small red box fries inside with both arms and set on the solid green palm-sized tray.",
+    "Lift the hamburg with white patches and the Open-top red box filled with fries, placing them neatly on the dark green serving tray.",
+    "Set the medium, squishy hamburg and the Palm-sized red fries container down on the single-piece dark green tray after picking them.",
+    "Using both arms, set the hamburg with uneven top and the Open-top red box filled with fries onto the rectangular green tray.",
+    "Using dual arms, move the brownish round hamburg and the Small red box fries inside onto the tray with rounded corners.",
+    "Place the light brown hamburg and the Golden fries crispy red package container onto the dark green serving tray after picking them up.",
+    "Grab the hamburg with patterned brown surface and the Light yellow fries in red holder and position them on the flat green rectangular tray.",
+    "Place the medium, squishy hamburg and the Red fries box together onto the flat green rectangular tray.",
+    "Use dual arms to grab the bread bun hamburg and the Bright red box with fries inside and set them on the plastic tray with curved edges.",
+    "Move the round hamburg and the Palm-sized red fries container with dual arms to the rectangular green tray.",
+    "Pick up the round, soft bread hamburg and the Handheld fries pack bright red color, then put them on the rectangular green tray",
+    "Pick up the soft brown bread hamburg, grab the Handheld fries pack bright red color, place them on the solid green palm-sized tray",
+    "Pick the round, soft bread hamburg, then the French fries in red packaging, and place them on the tray with rounded corners.",
+    "With dual arms, move the hamburg with white patches and the Light yellow fries in red holder onto the tray for holding objects.",
+    "Pick the light brown hamburg and the Golden fries crispy red package container, and set them on the solid green palm-sized tray.",
+    "Use both arms to transfer the round hamburg and the French fries in red packaging to the solid green palm-sized tray.",
+    "Pick up the smooth hamburg and the Small red box fries inside one by one and place on the rectangular green tray.",
+    "Set the bread bun hamburg and the Golden fries sticks in red carton on the tray with rounded corners using two arms.",
+    "Lift the bread bun hamburg, lift the Potato fries packaged in red carton, then set both on the smooth texture green tray.",
+    "Using both arms, pick the hamburg with uneven top and the Small red box fries inside and drop them on the medium plastic tray.",
+    "Place both the hamburg with uneven top and the Potato fries packaged in red carton on the dark green rectangular plastic tray after grabbing them with both arms.",
+    "Use dual arms to move the medium, squishy hamburg and the Palm-sized red fries container onto the single-piece dark green tray",
+    "Lift the medium-sized hamburg and the Potato fries packaged in red carton and position them on the single-piece dark green tray.",
+    "Pick up the smooth hamburg, then the Bright red box with fries inside, and place them onto the medium plastic tray.",
+    "Using dual arms, lift the light brown hamburg and the Rectangular red carton holding fries and drop them on the flat green rectangular tray.",
+    "Grab the bread bun hamburg, grab the Golden fries crispy red package container, and set both onto the tray for serving items.",
+    "Move the smooth hamburg and the Small red box fries inside onto the tray for holding objects with both arms.",
+    "Pick the brownish round hamburg, the Light yellow fries in red holder, and place them on the tray for holding objects using both arms.",
+    "Grab the light brown hamburg and the Palm-sized red fries container, use both arms to set on the dark green rectangular plastic tray.",
+    "Take the medium, squishy hamburg, take the Open-top red box filled with fries, and place them onto the solid green palm-sized tray.",
+    "Use both arms to move the bread bun hamburg and the Open-top red box filled with fries to the flat green rectangular tray.",
+    "Using both arms, grab the medium, squishy hamburg and the Palm-sized red fries container for the dark green serving tray.",
+    "Pick up the medium-sized hamburg and the Palm-sized red fries container, then put both on the medium plastic tray.",
+    "Use both arms to move the round hamburg and the Golden fries crispy red package container to the dark green rectangular plastic tray.",
+    "Position the soft brown bread hamburg and the Handheld fries pack bright red color on the solid green palm-sized tray with both arms.",
+    "Put the hamburg with white patches and the Open-top red box filled with fries on the tray with rounded corners using both arms",
+    "Place the medium, squishy hamburg and the Small red box fries inside onto the tray with rounded corners using dual arms",
+    "Place the medium-sized hamburg and the Light yellow fries in red holder on the tray for holding objects after picking them up.",
+    "Grab the hamburg with white patches, pick the French fries in red packaging, then set them on the dark green serving tray",
+    "Move the smooth hamburg and the Golden fries crispy red package container to the flat green rectangular tray using both arms.",
+    "With two arms, pick the round hamburg and the Potato fries packaged in red carton for the flat green rectangular tray.",
+    "Lift the hamburg with white patches and the Red fries box, position them on the tray for holding objects",
+    "Grab the bread bun hamburg and the Potato fries packaged in red carton, then put them on the single-piece dark green tray.",
+    "Grab the round hamburg, then the Palm-sized red fries container, and set them on the medium plastic tray.",
+    "Take the hamburg with white patches and the Handheld fries pack bright red color, place them onto the plastic tray with curved edges.",
+    "Transfer the medium, squishy hamburg and the Potato fries packaged in red carton to the medium plastic tray with both arms",
+    "Take the smooth hamburg and the Golden fries crispy red package container to the smooth texture green tray and set them there.",
+    "Use dual arms to place the round hamburg and the Palm-sized red fries container onto the solid green palm-sized tray",
+    "Move the brownish round hamburg and the Light yellow fries in red holder to the rectangular green tray with both arms",
+    "Grab the round hamburg with one arm and the Potato fries packaged in red carton with the other for the rectangular green tray.",
+    "Take the medium, squishy hamburg and the Red fries box with both arms and set on the solid green palm-sized tray.",
+    "Lift the hamburg with patterned brown surface and the Palm-sized red fries container, placing them neatly on the flat green rectangular tray.",
+    "Set the bread bun hamburg and the Palm-sized red fries container down on the smooth texture green tray after picking them.",
+    "Using both arms, set the soft brown bread hamburg and the Handheld fries pack bright red color onto the single-piece dark green tray.",
+    "Using dual arms, move the round hamburg and the Red fries box onto the rectangular green tray.",
+    "Place the soft brown bread hamburg and the Palm-sized red fries container onto the tray for holding objects after picking them up.",
+    "Grab the medium-sized hamburg and the Potato fries packaged in red carton and position them on the plastic tray with curved edges.",
+    "Place the round, soft bread hamburg and the Bright red box with fries inside together onto the tray with rounded corners.",
+    "Use dual arms to grab the hamburg with white patches and the Golden fries sticks in red carton and set them on the tray with rounded corners.",
+    "Move the light brown hamburg and the Handheld fries pack bright red color with dual arms to the dark green serving tray.",
+    "Pick up the hamburg with patterned brown surface and the Palm-sized red fries container, then put them on the rectangular green tray",
+    "Pick up the brownish round hamburg, grab the Potato fries packaged in red carton, place them on the tray with rounded corners",
+    "Pick the soft brown bread hamburg, then the French fries in red packaging, and place them on the tray for holding objects.",
+    "With dual arms, move the light brown hamburg and the Golden fries crispy red package container onto the tray for holding objects.",
+    "Pick the medium, squishy hamburg and the Bright red box with fries inside, and set them on the single-piece dark green tray.",
+    "Use both arms to transfer the medium-sized hamburg and the Handheld fries pack bright red color to the dark green rectangular plastic tray.",
+    "Pick up the hamburg with uneven top and the Red fries box one by one and place on the flat green rectangular tray.",
+    "Set the hamburg with patterned brown surface and the French fries in red packaging on the dark green serving tray using two arms.",
+    "Lift the hamburg with patterned brown surface, lift the Bright red box with fries inside, then set both on the solid green palm-sized tray."
+  ],
+  "unseen": [
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Place the palm-sized hamburg and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Use both arms to place the hamburg with light brown top and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the green tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the green tray.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the smooth green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the green tray.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the green tray.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the smooth green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the green tray.",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Use both arms to place the hamburg with white sides and the Golden fries in red carton box on the smooth green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the green tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the green tray.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the green tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the green tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the smooth green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001060.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the yellow bottom hamburg box and the red container with yellow fries onto the rectangular tray with both arms.",
+    "Lift the smooth hamburg box and the red box with golden sticks, placing them neatly on the dark rectangular serving tray.",
+    "Transfer the green and yellow hamburg container and the thin crispy potato fries to the medium dark brown tray with both arms",
+    "Take the easy-to-carry hamburg box and the McDonald's logo on red fries box, place them onto the dark rectangular serving tray.",
+    "Using dual arms, lift the hamburg box with rounded edges and the golden fries in smooth red pouch and drop them on the tray with slightly raised edges.",
+    "Place the easy-to-carry hamburg box and the red box with golden sticks onto the smooth plastic tray using dual arms",
+    "Lift the box with green hamburg lid and the golden fries in red packaging, position them on the brown tray",
+    "Grab the green top hamburg box and the red fries packet, use both arms to set on the smooth plastic tray.",
+    "Pick the hamburg box with rounded edges and the red fries packet, and set them on the tray for holding things.",
+    "With dual arms, move the yellow bottom hamburg box and the bright red fries holder onto the brown tray with rim.",
+    "Grab the green top hamburg box and the thin crispy potato fries and position them on the rectangular plastic tray.",
+    "Use both arms to move the hamburg box with rounded edges and the golden fries in smooth red pouch to the brown tray with rim.",
+    "Set the green top hamburg box and the McDonald's logo on red fries box down on the medium-sized dark brown tray after picking them.",
+    "Pick up the rectangular hamburg container with smooth finish and the thin crispy potato fries, then put both on the smooth plastic tray.",
+    "Place both the rectangular hamburg box and the bright red fries holder on the smooth plastic tray after grabbing them with both arms.",
+    "Set the hamburg box with lid and the bright red fries holder on the dark rectangular serving tray using two arms.",
+    "Pick up the green and yellow hamburg container and the golden fries in red packaging one by one and place on the rectangular plastic tray.",
+    "Grab the easy-to-carry hamburg box, grab the McDonald's logo on red fries box, and set both onto the dark rectangular serving tray.",
+    "Use dual arms to place the rectangular hamburg box and the rectangular red fries packet onto the brown tray",
+    "Using both arms, pick the box with green hamburg lid and the crispy fries in hand-sized pouch and drop them on the rectangular plastic tray.",
+    "Using both arms, set the small hamburg box and the McDonald's logo on red fries box onto the medium-sized dark brown tray.",
+    "Pick up the yellow and green hamburg holder, grab the red fries packet, place them on the rectangular plastic tray",
+    "Place the box with green hamburg lid and the red container with yellow fries on the rectangular tray after picking them up.",
+    "Grab the easy-to-carry hamburg box, then the thin crispy potato fries, and set them on the medium dark brown tray.",
+    "Use dual arms to move the yellow bottom hamburg box and the red fries packet onto the dark rectangular serving tray",
+    "Lift the hamburg box with lid and the small red fries packet and position them on the tray with slightly raised edges.",
+    "Pick the smooth hamburg box, then the red fries packet, and place them on the brown tray with rim.",
+    "With two arms, pick the hamburg box with lid and the red box with golden sticks for the brown tray with rim.",
+    "Using both arms, grab the easy-to-carry hamburg box and the golden fries in red packaging for the smooth plastic tray.",
+    "Use both arms to transfer the green and yellow hamburg container and the red box with golden sticks to the smooth plastic tray.",
+    "Lift the easy-to-carry hamburg box, lift the rectangular red fries packet, then set both on the brown tray with rim.",
+    "Place the hamburg box with rounded edges and the red fries packet together onto the rectangular plastic tray.",
+    "Place the small hamburg box and the bright red fries holder onto the brown tray with rim after picking them up.",
+    "Grab the yellow bottom hamburg box, pick the golden fries in red packaging, then set them on the tray for holding things",
+    "Take the hamburg box with rounded edges and the golden fries in red packaging with both arms and set on the dark rectangular serving tray.",
+    "Use both arms to move the yellow and green hamburg holder and the crispy fries in hand-sized pouch to the tray with slightly raised edges.",
+    "Take the easy-to-carry hamburg box, take the golden fries in red packaging, and place them onto the medium dark brown tray.",
+    "Grab the green and yellow hamburg container with one arm and the red fries packet with the other for the flat tray with smooth surface.",
+    "Pick up the easy-to-carry hamburg box, then the red fries packet, and place them onto the smooth plastic tray.",
+    "Put the rectangular hamburg container with smooth finish and the red container with yellow fries on the brown tray with rim using both arms",
+    "Grab the hamburg box with rounded edges and the McDonald's fries bag, then put them on the rectangular plastic tray.",
+    "Pick up the hamburg box with lid and the golden fries in red packaging, then put them on the brown tray",
+    "Move the green top hamburg box and the red container with yellow fries to the smooth plastic tray using both arms.",
+    "Move the small hamburg box and the rectangular red fries packet to the brown tray with both arms",
+    "Move the yellow and green hamburg holder and the golden fries in red packaging with dual arms to the rectangular tray.",
+    "Take the rectangular hamburg box and the golden fries in smooth red pouch to the smooth plastic tray and set them there.",
+    "Pick the green and yellow hamburg container, the red container with yellow fries, and place them on the brown tray using both arms.",
+    "Using dual arms, move the yellow bottom hamburg box and the red fries packet onto the brown tray.",
+    "Position the hamburg box with rounded edges and the red container with yellow fries on the flat brown tray with raised edges with both arms.",
+    "Use dual arms to grab the yellow and green hamburg holder and the bright red fries holder and set them on the smooth plastic tray.",
+    "Move the box with green hamburg lid and the crispy fries in hand-sized pouch onto the medium dark brown tray with both arms.",
+    "Lift the smooth hamburg box and the golden fries in red packaging, placing them neatly on the dark rectangular serving tray.",
+    "Transfer the easy-to-carry hamburg box and the thin crispy potato fries to the tray with slightly raised edges with both arms",
+    "Take the small hamburg box and the golden fries in red packaging, place them onto the rectangular tray.",
+    "Using dual arms, lift the green and yellow hamburg container and the golden fries in smooth red pouch and drop them on the brown tray with rim.",
+    "Place the rectangular hamburg box and the red box with golden sticks onto the rectangular tray using dual arms",
+    "Lift the rectangular hamburg container with smooth finish and the golden fries in smooth red pouch, position them on the brown tray with rim",
+    "Grab the yellow bottom hamburg box and the rectangular red fries packet, use both arms to set on the medium-sized dark brown tray.",
+    "Pick the hamburg box with rounded edges and the golden fries in red packaging, and set them on the tray with slightly raised edges.",
+    "With dual arms, move the easy-to-carry hamburg box and the McDonald's fries bag onto the medium dark brown tray.",
+    "Grab the rectangular hamburg container with smooth finish and the red box with golden sticks and position them on the medium-sized dark brown tray.",
+    "Use both arms to move the rectangular hamburg container with smooth finish and the bright red fries holder to the rectangular plastic tray.",
+    "Set the hamburg box with rounded edges and the golden fries in smooth red pouch down on the smooth plastic tray after picking them.",
+    "Pick up the rectangular hamburg box and the McDonald's logo on red fries box, then put both on the medium dark brown tray.",
+    "Place both the green and yellow hamburg container and the rectangular red fries packet on the brown tray with rim after grabbing them with both arms.",
+    "Set the smooth hamburg box and the red container with yellow fries on the medium-sized dark brown tray using two arms.",
+    "Pick up the rectangular hamburg container with smooth finish and the small red fries packet one by one and place on the medium-sized dark brown tray.",
+    "Grab the green top hamburg box, grab the red fries packet, and set both onto the flat brown tray with raised edges.",
+    "Use dual arms to place the easy-to-carry hamburg box and the golden fries in smooth red pouch onto the flat tray with smooth surface",
+    "Using both arms, pick the box with green hamburg lid and the thin crispy potato fries and drop them on the flat tray with smooth surface.",
+    "Using both arms, set the hamburg box with lid and the rectangular red fries packet onto the dark rectangular serving tray.",
+    "Pick up the rectangular hamburg box, grab the golden fries in red packaging, place them on the brown tray",
+    "Place the easy-to-carry hamburg box and the bright red fries holder on the flat brown tray with raised edges after picking them up.",
+    "Grab the smooth hamburg box, then the rectangular red fries packet, and set them on the tray with slightly raised edges.",
+    "Use dual arms to move the yellow and green hamburg holder and the rectangular red fries packet onto the flat brown tray with raised edges",
+    "Lift the easy-to-carry hamburg box and the thin crispy potato fries and position them on the brown tray.",
+    "Pick the yellow and green hamburg holder, then the McDonald's fries bag, and place them on the brown tray with rim.",
+    "With two arms, pick the yellow and green hamburg holder and the McDonald's logo on red fries box for the medium dark brown tray.",
+    "Using both arms, grab the yellow and green hamburg holder and the golden fries in smooth red pouch for the brown tray.",
+    "Use both arms to transfer the green top hamburg box and the bright red fries holder to the rectangular tray.",
+    "Lift the green and yellow hamburg container, lift the rectangular red fries packet, then set both on the brown tray with rim.",
+    "Place the easy-to-carry hamburg box and the thin crispy potato fries together onto the brown tray with rim.",
+    "Place the easy-to-carry hamburg box and the golden fries in smooth red pouch onto the flat tray with smooth surface after picking them up.",
+    "Grab the box with green hamburg lid, pick the rectangular red fries packet, then set them on the dark rectangular serving tray",
+    "Take the rectangular hamburg box and the bright red fries holder with both arms and set on the tray for holding things.",
+    "Use both arms to move the green and yellow hamburg container and the rectangular red fries packet to the medium dark brown tray.",
+    "Take the hamburg box with rounded edges, take the bright red fries holder, and place them onto the rectangular tray.",
+    "Grab the box with green hamburg lid with one arm and the McDonald's logo on red fries box with the other for the flat tray with smooth surface.",
+    "Pick up the rectangular hamburg box, then the red container with yellow fries, and place them onto the rectangular plastic tray.",
+    "Put the rectangular hamburg container with smooth finish and the small red fries packet on the flat brown tray with raised edges using both arms",
+    "Grab the small hamburg box and the crispy fries in hand-sized pouch, then put them on the brown tray.",
+    "Pick up the yellow and green hamburg holder and the red fries packet, then put them on the rectangular tray",
+    "Move the small hamburg box and the McDonald's fries bag to the rectangular tray using both arms.",
+    "Move the easy-to-carry hamburg box and the red box with golden sticks to the brown tray with rim with both arms",
+    "Move the green and yellow hamburg container and the rectangular red fries packet with dual arms to the brown tray with rim.",
+    "Take the rectangular hamburg box and the rectangular red fries packet to the rectangular tray and set them there.",
+    "Pick the small hamburg box, the bright red fries holder, and place them on the brown tray with rim using both arms.",
+    "Using dual arms, move the hamburg box with lid and the golden fries in smooth red pouch onto the flat tray with smooth surface.",
+    "Position the green and yellow hamburg container and the red box with golden sticks on the smooth plastic tray with both arms.",
+    "Use dual arms to grab the hamburg box with lid and the golden fries in smooth red pouch and set them on the brown tray with rim."
+  ],
+  "unseen": [
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the medium flat tray",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the flat brown serving tray",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the medium flat tray.",
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the flat brown serving tray.",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the medium flat tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the tray for carrying items.",
+    "Place the compact hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the tray for carrying items.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the tray for carrying items",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the medium flat tray",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the tray for carrying items",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the tray for carrying items",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the golden fries in red holder on the tray for carrying items.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the tray for carrying items.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder, then place on the tray for carrying items.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the tray for carrying items.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the flat brown serving tray",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the medium flat tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001061.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, grab the brownish round hamburg and the Open-top red box filled with fries for the dark green serving tray.",
+    "Pick up the hamburg with patterned brown surface and the Open-top red box filled with fries, then put both on the smooth texture green tray.",
+    "Place both the hamburg with white patches and the Small red box fries inside on the medium plastic tray after grabbing them with both arms.",
+    "With two arms, pick the round, soft bread hamburg and the Golden fries crispy red package container for the tray for serving items.",
+    "Move the brownish round hamburg and the Palm-sized red fries container with dual arms to the dark green serving tray.",
+    "Use dual arms to move the medium, squishy hamburg and the Small red box fries inside onto the medium plastic tray",
+    "Lift the round hamburg, lift the Bright red box with fries inside, then set both on the single-piece dark green tray.",
+    "Lift the light brown hamburg and the French fries in red packaging and position them on the flat green rectangular tray.",
+    "Pick up the medium, squishy hamburg, then the Potato fries packaged in red carton, and place them onto the tray with rounded corners.",
+    "Lift the light brown hamburg and the Handheld fries pack bright red color, placing them neatly on the dark green serving tray.",
+    "Pick the soft brown bread hamburg, then the Red fries box, and place them on the plastic tray with curved edges.",
+    "Move the round, soft bread hamburg and the Red fries box to the plastic tray with curved edges with both arms",
+    "Using dual arms, move the round hamburg and the Rectangular red carton holding fries onto the tray with rounded corners.",
+    "Place the hamburg with white patches and the French fries in red packaging together onto the medium plastic tray.",
+    "Take the hamburg with patterned brown surface, take the Red fries box, and place them onto the rectangular green tray.",
+    "Place the smooth hamburg and the Small red box fries inside on the flat green rectangular tray after picking them up.",
+    "Using dual arms, lift the smooth hamburg and the Small red box fries inside and drop them on the rectangular green tray.",
+    "Lift the round, soft bread hamburg and the Golden fries sticks in red carton, position them on the dark green rectangular plastic tray",
+    "Grab the soft brown bread hamburg and the Potato fries packaged in red carton, use both arms to set on the dark green serving tray.",
+    "Use dual arms to place the soft brown bread hamburg and the Potato fries packaged in red carton onto the rectangular green tray",
+    "Grab the medium-sized hamburg with one arm and the Red fries box with the other for the flat green rectangular tray.",
+    "Set the round hamburg and the Potato fries packaged in red carton down on the single-piece dark green tray after picking them.",
+    "Grab the hamburg with uneven top, grab the Potato fries packaged in red carton, and set both onto the single-piece dark green tray.",
+    "Take the light brown hamburg and the Palm-sized red fries container to the dark green serving tray and set them there.",
+    "Pick up the medium, squishy hamburg and the Rectangular red carton holding fries one by one and place on the plastic tray with curved edges.",
+    "Use both arms to transfer the hamburg with patterned brown surface and the Palm-sized red fries container to the dark green serving tray.",
+    "Using both arms, pick the brownish round hamburg and the Red fries box and drop them on the tray for serving items.",
+    "Use dual arms to grab the round hamburg and the Red fries box and set them on the flat green rectangular tray.",
+    "Pick the smooth hamburg and the Light yellow fries in red holder, and set them on the single-piece dark green tray.",
+    "Place the brownish round hamburg and the Light yellow fries in red holder onto the solid green palm-sized tray using dual arms",
+    "Using both arms, set the light brown hamburg and the Rectangular red carton holding fries onto the smooth texture green tray.",
+    "Move the bread bun hamburg and the Light yellow fries in red holder onto the smooth texture green tray with both arms.",
+    "Use both arms to move the light brown hamburg and the Palm-sized red fries container to the dark green serving tray.",
+    "Move the smooth hamburg and the French fries in red packaging to the flat green rectangular tray using both arms.",
+    "Pick up the hamburg with white patches, grab the Palm-sized red fries container, place them on the flat green rectangular tray",
+    "Pick up the medium-sized hamburg and the Potato fries packaged in red carton, then put them on the tray for serving items",
+    "Position the brownish round hamburg and the Open-top red box filled with fries on the medium plastic tray with both arms.",
+    "Grab the round hamburg and the Bright red box with fries inside, then put them on the tray with rounded corners.",
+    "Grab the brownish round hamburg, then the Red fries box, and set them on the tray for holding objects.",
+    "Place the round hamburg and the Handheld fries pack bright red color onto the tray for holding objects after picking them up.",
+    "Put the smooth hamburg and the Red fries box on the tray with rounded corners using both arms",
+    "Pick the round, soft bread hamburg, the Small red box fries inside, and place them on the dark green serving tray using both arms.",
+    "Set the hamburg with white patches and the Small red box fries inside on the plastic tray with curved edges using two arms.",
+    "Take the bread bun hamburg and the Palm-sized red fries container with both arms and set on the tray for holding objects.",
+    "Take the medium-sized hamburg and the Bright red box with fries inside, place them onto the medium plastic tray.",
+    "Use both arms to move the hamburg with patterned brown surface and the Red fries box to the plastic tray with curved edges.",
+    "Grab the hamburg with uneven top, pick the Light yellow fries in red holder, then set them on the tray for serving items",
+    "With dual arms, move the bread bun hamburg and the Rectangular red carton holding fries onto the dark green serving tray.",
+    "Grab the hamburg with white patches and the Golden fries sticks in red carton and position them on the single-piece dark green tray.",
+    "Transfer the round, soft bread hamburg and the Golden fries crispy red package container to the medium plastic tray with both arms",
+    "Using both arms, grab the medium, squishy hamburg and the French fries in red packaging for the dark green serving tray.",
+    "Pick up the brownish round hamburg and the Light yellow fries in red holder, then put both on the medium plastic tray.",
+    "Place both the soft brown bread hamburg and the Potato fries packaged in red carton on the rectangular green tray after grabbing them with both arms.",
+    "With two arms, pick the light brown hamburg and the Golden fries sticks in red carton for the medium plastic tray.",
+    "Move the hamburg with white patches and the Handheld fries pack bright red color with dual arms to the single-piece dark green tray.",
+    "Use dual arms to move the light brown hamburg and the Bright red box with fries inside onto the flat green rectangular tray",
+    "Lift the medium, squishy hamburg, lift the Light yellow fries in red holder, then set both on the tray for serving items.",
+    "Lift the hamburg with white patches and the Bright red box with fries inside and position them on the solid green palm-sized tray.",
+    "Pick up the bread bun hamburg, then the Small red box fries inside, and place them onto the tray for holding objects.",
+    "Lift the soft brown bread hamburg and the Golden fries crispy red package container, placing them neatly on the plastic tray with curved edges.",
+    "Pick the light brown hamburg, then the Red fries box, and place them on the plastic tray with curved edges.",
+    "Move the brownish round hamburg and the Golden fries sticks in red carton to the solid green palm-sized tray with both arms",
+    "Using dual arms, move the brownish round hamburg and the Golden fries sticks in red carton onto the tray for holding objects.",
+    "Place the medium, squishy hamburg and the Golden fries crispy red package container together onto the tray for holding objects.",
+    "Take the hamburg with white patches, take the Small red box fries inside, and place them onto the rectangular green tray.",
+    "Place the bread bun hamburg and the French fries in red packaging on the dark green serving tray after picking them up.",
+    "Using dual arms, lift the soft brown bread hamburg and the Rectangular red carton holding fries and drop them on the tray with rounded corners.",
+    "Lift the medium-sized hamburg and the Golden fries crispy red package container, position them on the smooth texture green tray",
+    "Grab the soft brown bread hamburg and the Rectangular red carton holding fries, use both arms to set on the rectangular green tray.",
+    "Use dual arms to place the hamburg with uneven top and the Bright red box with fries inside onto the smooth texture green tray",
+    "Grab the hamburg with patterned brown surface with one arm and the French fries in red packaging with the other for the tray for holding objects.",
+    "Set the round hamburg and the Handheld fries pack bright red color down on the plastic tray with curved edges after picking them.",
+    "Grab the round hamburg, grab the Open-top red box filled with fries, and set both onto the solid green palm-sized tray.",
+    "Take the hamburg with uneven top and the Open-top red box filled with fries to the rectangular green tray and set them there.",
+    "Pick up the light brown hamburg and the Light yellow fries in red holder one by one and place on the dark green rectangular plastic tray.",
+    "Use both arms to transfer the hamburg with patterned brown surface and the French fries in red packaging to the smooth texture green tray.",
+    "Using both arms, pick the round, soft bread hamburg and the Light yellow fries in red holder and drop them on the dark green serving tray.",
+    "Use dual arms to grab the hamburg with patterned brown surface and the Small red box fries inside and set them on the rectangular green tray.",
+    "Pick the medium, squishy hamburg and the Red fries box, and set them on the solid green palm-sized tray.",
+    "Place the soft brown bread hamburg and the French fries in red packaging onto the smooth texture green tray using dual arms",
+    "Using both arms, set the light brown hamburg and the Handheld fries pack bright red color onto the tray with rounded corners.",
+    "Move the hamburg with white patches and the Red fries box onto the tray for holding objects with both arms.",
+    "Use both arms to move the round hamburg and the Bright red box with fries inside to the tray with rounded corners.",
+    "Move the hamburg with patterned brown surface and the Golden fries sticks in red carton to the solid green palm-sized tray using both arms.",
+    "Pick up the smooth hamburg, grab the Golden fries crispy red package container, place them on the tray for serving items",
+    "Pick up the hamburg with white patches and the Red fries box, then put them on the tray for holding objects",
+    "Position the hamburg with white patches and the French fries in red packaging on the flat green rectangular tray with both arms.",
+    "Grab the bread bun hamburg and the Handheld fries pack bright red color, then put them on the rectangular green tray.",
+    "Grab the medium, squishy hamburg, then the Rectangular red carton holding fries, and set them on the tray for serving items.",
+    "Place the round hamburg and the Golden fries sticks in red carton onto the flat green rectangular tray after picking them up.",
+    "Put the hamburg with uneven top and the Open-top red box filled with fries on the single-piece dark green tray using both arms",
+    "Pick the hamburg with white patches, the Red fries box, and place them on the single-piece dark green tray using both arms.",
+    "Set the round hamburg and the Rectangular red carton holding fries on the smooth texture green tray using two arms.",
+    "Take the medium-sized hamburg and the French fries in red packaging with both arms and set on the tray for serving items.",
+    "Take the bread bun hamburg and the Potato fries packaged in red carton, place them onto the solid green palm-sized tray.",
+    "Use both arms to move the hamburg with white patches and the Red fries box to the smooth texture green tray.",
+    "Grab the hamburg with white patches, pick the Potato fries packaged in red carton, then set them on the tray for holding objects",
+    "With dual arms, move the round hamburg and the Potato fries packaged in red carton onto the plastic tray with curved edges.",
+    "Grab the smooth hamburg and the Small red box fries inside and position them on the smooth texture green tray.",
+    "Transfer the hamburg with patterned brown surface and the Open-top red box filled with fries to the tray for serving items with both arms"
+  ],
+  "unseen": [
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the green tray",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the smooth green tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the green tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the green tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, then place them on the green tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the green tray",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the smooth green tray.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the green tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the green tray",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the green tray",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with white sides and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001066.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bright yellow hamburg box with logo and the small red fries packet one by one and place on the medium rectangular flat tray.",
+    "Place the rectangular hamburg box and the crispy fries in hand-sized pouch onto the tray with smooth plastic surface using dual arms",
+    "Pick up the yellow hamburg box with white accents and the red fries packet, then put them on the flat tray with rounded corners",
+    "Take the yellow hamburg box with white accents and the rectangular red fries packet to the tray with smooth plastic surface and set them there.",
+    "Position the yellow box for hamburg and the McDonald's fries bag on the plastic tray for carrying items with both arms.",
+    "Pick up the white and yellow printed hamburg holder and the crispy fries in hand-sized pouch, then put both on the light beige smooth tray.",
+    "Pick the medium-sized yellow hamburg package, then the small red fries packet, and place them on the medium beige tray with flat base.",
+    "Take the medium-sized yellow hamburg package and the thin crispy potato fries with both arms and set on the medium beige tray with flat base.",
+    "Grab the yellow hamburg box with one arm and the bright red fries holder with the other for the light beige smooth tray.",
+    "Use dual arms to grab the bright yellow hamburg box with logo and the thin crispy potato fries and set them on the smooth light beige plastic tray.",
+    "Transfer the yellow hamburg box and the red box with golden sticks to the plastic tray for carrying items with both arms",
+    "With two arms, pick the yellow hamburg box and the golden fries in smooth red pouch for the medium beige tray with flat base.",
+    "Grab the yellow hamburg box with white accents, then the small red fries packet, and set them on the plastic tray for carrying items.",
+    "Move the medium-sized yellow hamburg package and the thin crispy potato fries onto the beige tray with both arms.",
+    "Set the medium-sized yellow hamburg package and the red fries packet down on the tray with rounded rectangular shape after picking them.",
+    "Grab the yellow box for hamburg and the rectangular red fries packet and position them on the beige tray.",
+    "Using dual arms, lift the yellow box for hamburg and the golden fries in red packaging and drop them on the smooth light beige plastic tray.",
+    "Using dual arms, move the hamburg box with foldable top and the bright red fries holder onto the tray with smooth plastic surface.",
+    "Take the foldable hamburg cardboard box, take the red box with golden sticks, and place them onto the tray with rounded rectangular shape.",
+    "Move the foldable hamburg cardboard box and the golden fries in smooth red pouch to the plastic tray for carrying items using both arms.",
+    "With dual arms, move the medium-sized box with hamburg design and the golden fries in red packaging onto the plastic tray for carrying items.",
+    "Using both arms, grab the hamburg box with foldable top and the golden fries in red packaging for the tray with rounded rectangular shape.",
+    "Use both arms to transfer the yellow box for hamburg and the red box with golden sticks to the beige tray.",
+    "Pick up the white and yellow printed hamburg holder, grab the McDonald's logo on red fries box, place them on the medium rectangular flat tray",
+    "Using both arms, set the medium-sized box with hamburg design and the red container with yellow fries onto the tray for holding items.",
+    "Grab the yellow box for hamburg and the red fries packet, then put them on the smooth rectangular tray.",
+    "Use dual arms to move the smooth yellow hamburg packaging and the McDonald's fries bag onto the tray with smooth plastic surface",
+    "Place both the white lid with yellow bottom hamburg box and the golden fries in red packaging on the tray for holding items after grabbing them with both arms.",
+    "Set the bright yellow hamburg box with logo and the McDonald's fries bag on the tray with rounded rectangular shape using two arms.",
+    "Lift the medium-sized yellow hamburg package and the thin crispy potato fries, position them on the flat tray with rounded corners",
+    "Move the foldable hamburg cardboard box and the bright red fries holder to the beige tray with both arms",
+    "Using both arms, pick the bright yellow hamburg box with logo and the golden fries in red packaging and drop them on the flat tray with rounded corners.",
+    "Place the bright yellow hamburg box with logo and the McDonald's fries bag onto the beige tray after picking them up.",
+    "Take the bright yellow hamburg box with logo and the crispy fries in hand-sized pouch, place them onto the smooth light beige plastic tray.",
+    "Grab the white and yellow printed hamburg holder, pick the red box with golden sticks, then set them on the tray for holding items",
+    "Use both arms to move the hamburg box with foldable top and the thin crispy potato fries to the smooth light beige plastic tray.",
+    "Grab the rectangular hamburg box and the thin crispy potato fries, use both arms to set on the rectangular beige tray for objects.",
+    "Lift the smooth yellow hamburg packaging, lift the bright red fries holder, then set both on the light beige smooth tray.",
+    "Place the white lid with yellow bottom hamburg box and the small red fries packet together onto the rectangular beige tray for objects.",
+    "Use both arms to move the white lid with yellow bottom hamburg box and the small red fries packet to the tray with rounded rectangular shape.",
+    "Lift the hamburg box with foldable top and the crispy fries in hand-sized pouch, placing them neatly on the smooth light beige plastic tray.",
+    "Pick the medium-sized yellow hamburg package, the red box with golden sticks, and place them on the tray for holding items using both arms.",
+    "Grab the foldable hamburg cardboard box, grab the golden fries in smooth red pouch, and set both onto the beige tray.",
+    "Move the white lid with yellow bottom hamburg box and the golden fries in smooth red pouch with dual arms to the tray with smooth plastic surface.",
+    "Lift the medium-sized yellow hamburg package and the golden fries in smooth red pouch and position them on the plastic tray for carrying items.",
+    "Put the yellow hamburg box and the thin crispy potato fries on the rectangular beige tray for objects using both arms",
+    "Use dual arms to place the medium-sized box with hamburg design and the crispy fries in hand-sized pouch onto the rectangular beige tray for objects",
+    "Pick up the bright yellow hamburg box with logo, then the golden fries in red packaging, and place them onto the medium beige tray with flat base.",
+    "Pick the medium-sized box with hamburg design and the red box with golden sticks, and set them on the light beige smooth tray.",
+    "Place the medium-sized yellow hamburg package and the red container with yellow fries on the rectangular beige tray for objects after picking them up.",
+    "Pick up the medium-sized box with hamburg design and the McDonald's logo on red fries box one by one and place on the smooth light beige plastic tray.",
+    "Place the foldable hamburg cardboard box and the bright red fries holder onto the medium rectangular flat tray using dual arms",
+    "Pick up the white and yellow printed hamburg holder and the red box with golden sticks, then put them on the flat tray with rounded corners",
+    "Take the foldable hamburg cardboard box and the golden fries in red packaging to the beige tray and set them there.",
+    "Position the medium-sized yellow hamburg package and the McDonald's fries bag on the smooth light beige plastic tray with both arms.",
+    "Pick up the smooth yellow hamburg packaging and the golden fries in red packaging, then put both on the medium rectangular flat tray.",
+    "Pick the yellow hamburg box with white accents, then the McDonald's logo on red fries box, and place them on the tray for holding items.",
+    "Take the yellow hamburg box with white accents and the thin crispy potato fries with both arms and set on the beige tray.",
+    "Grab the white and yellow printed hamburg holder with one arm and the rectangular red fries packet with the other for the tray with smooth plastic surface.",
+    "Use dual arms to grab the medium-sized box with hamburg design and the red box with golden sticks and set them on the smooth light beige plastic tray.",
+    "Transfer the rectangular hamburg box and the rectangular red fries packet to the rectangular beige tray for objects with both arms",
+    "With two arms, pick the medium-sized yellow hamburg package and the small red fries packet for the tray with rounded rectangular shape.",
+    "Grab the white and yellow printed hamburg holder, then the McDonald's logo on red fries box, and set them on the rectangular beige tray for objects.",
+    "Move the yellow hamburg box with white accents and the small red fries packet onto the light beige smooth tray with both arms.",
+    "Set the medium-sized box with hamburg design and the rectangular red fries packet down on the tray with rounded rectangular shape after picking them.",
+    "Grab the yellow hamburg box and the red fries packet and position them on the medium rectangular flat tray.",
+    "Using dual arms, lift the foldable hamburg cardboard box and the red box with golden sticks and drop them on the light beige smooth tray.",
+    "Using dual arms, move the bright yellow hamburg box with logo and the McDonald's logo on red fries box onto the flat tray with rounded corners.",
+    "Take the rectangular hamburg box, take the bright red fries holder, and place them onto the flat tray with rounded corners.",
+    "Move the rectangular hamburg box and the red fries packet to the smooth rectangular tray using both arms.",
+    "With dual arms, move the medium-sized box with hamburg design and the bright red fries holder onto the medium rectangular flat tray.",
+    "Using both arms, grab the foldable hamburg cardboard box and the small red fries packet for the smooth rectangular tray.",
+    "Use both arms to transfer the medium-sized yellow hamburg package and the McDonald's fries bag to the smooth light beige plastic tray.",
+    "Pick up the medium-sized box with hamburg design, grab the thin crispy potato fries, place them on the tray with rounded rectangular shape",
+    "Using both arms, set the rectangular hamburg box and the McDonald's logo on red fries box onto the smooth light beige plastic tray.",
+    "Grab the white and yellow printed hamburg holder and the crispy fries in hand-sized pouch, then put them on the tray with rounded rectangular shape.",
+    "Use dual arms to move the bright yellow hamburg box with logo and the red fries packet onto the light beige smooth tray",
+    "Place both the hamburg box with foldable top and the red container with yellow fries on the medium beige tray with flat base after grabbing them with both arms.",
+    "Set the white and yellow printed hamburg holder and the thin crispy potato fries on the flat tray with rounded corners using two arms.",
+    "Lift the rectangular hamburg box and the red box with golden sticks, position them on the light beige smooth tray",
+    "Move the hamburg box with foldable top and the thin crispy potato fries to the plastic tray for carrying items with both arms",
+    "Using both arms, pick the yellow hamburg box and the golden fries in red packaging and drop them on the tray with smooth plastic surface.",
+    "Place the yellow hamburg box with white accents and the thin crispy potato fries onto the tray for holding items after picking them up.",
+    "Take the foldable hamburg cardboard box and the thin crispy potato fries, place them onto the rectangular beige tray for objects.",
+    "Grab the yellow hamburg box with white accents, pick the golden fries in smooth red pouch, then set them on the tray with smooth plastic surface",
+    "Use both arms to move the medium-sized box with hamburg design and the thin crispy potato fries to the plastic tray for carrying items.",
+    "Grab the rectangular hamburg box and the McDonald's logo on red fries box, use both arms to set on the tray with smooth plastic surface.",
+    "Lift the medium-sized yellow hamburg package, lift the red box with golden sticks, then set both on the smooth rectangular tray.",
+    "Place the yellow hamburg box with white accents and the golden fries in red packaging together onto the rectangular beige tray for objects.",
+    "Use both arms to move the bright yellow hamburg box with logo and the red box with golden sticks to the tray for holding items.",
+    "Lift the bright yellow hamburg box with logo and the golden fries in smooth red pouch, placing them neatly on the light beige smooth tray.",
+    "Pick the foldable hamburg cardboard box, the small red fries packet, and place them on the light beige smooth tray using both arms.",
+    "Grab the rectangular hamburg box, grab the rectangular red fries packet, and set both onto the medium beige tray with flat base.",
+    "Move the white and yellow printed hamburg holder and the red container with yellow fries with dual arms to the medium beige tray with flat base.",
+    "Lift the medium-sized yellow hamburg package and the McDonald's fries bag and position them on the beige tray.",
+    "Put the rectangular hamburg box and the McDonald's fries bag on the rectangular beige tray for objects using both arms",
+    "Use dual arms to place the smooth yellow hamburg packaging and the bright red fries holder onto the beige tray",
+    "Pick up the yellow hamburg box, then the red fries packet, and place them onto the flat tray with rounded corners.",
+    "Pick the bright yellow hamburg box with logo and the bright red fries holder, and set them on the tray with rounded rectangular shape.",
+    "Place the yellow box for hamburg and the thin crispy potato fries on the light beige smooth tray after picking them up."
+  ],
+  "unseen": [
+    "Pick up the cardboard hamburg container and the golden fries in red holder together, then drop on the rectangular beige tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, then place them on the medium beige plastic tray.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the medium beige plastic tray",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the beige tray with soft edges.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the beige tray with soft edges",
+    "Use both arms to place the hamburg pack with printed details and the golden fries in red holder on the medium beige plastic tray.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, place them on the medium beige plastic tray.",
+    "Pick the cardboard hamburg container and the hand-sized fries container, then place them on the beige tray with soft edges.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box and set them on the rectangular beige tray.",
+    "Place the rectangular cardboard box for hamburg and the golden crispy fries inside red box onto the beige tray with soft edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box and place them on the beige tray with soft edges.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container together, then drop on the beige tray with soft edges",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place on the rectangular beige tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Place the cardboard hamburg container and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box and place them on the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container together, then drop on the rectangular beige tray",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, then place them on the beige tray with soft edges.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the medium beige plastic tray",
+    "Pick up the cardboard hamburg container and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Use both arms to place the cardboard hamburg container and the hand-sized fries container on the medium beige plastic tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the beige tray with soft edges.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, place them on the rectangular beige tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place them on the beige tray with soft edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box, then place on the beige tray with soft edges.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the hand-sized fries container on the rectangular beige tray.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the medium beige plastic tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the medium beige plastic tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the rectangular beige tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the rectangular beige tray.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container together, setting them on the medium beige plastic tray.",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, then place them on the rectangular beige tray.",
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Place the cardboard hamburg container and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box and place them on the beige tray with soft edges.",
+    "Pick up the rectangular cardboard box for hamburg and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the hand-sized fries container on the beige tray with soft edges.",
+    "Grab the cardboard hamburg container and the hand-sized fries container together, setting them on the beige tray with soft edges.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then set them on the beige tray with soft edges",
+    "Pick up the cardboard hamburg container and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the golden fries in red holder onto the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the medium beige plastic tray.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the beige tray with soft edges.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, then place them on the rectangular beige tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the rectangular beige tray",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg pack with printed details and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box together, then drop on the beige tray with soft edges",
+    "Use both arms to place the hamburg pack with printed details and the hand-sized fries container on the medium beige plastic tray.",
+    "Grab the cardboard hamburg container and the golden fries in red holder together, setting them on the medium beige plastic tray.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, then place them on the rectangular beige tray.",
+    "Grab the cardboard hamburg container and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick up the cardboard hamburg container and the golden fries in red holder, then place on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the hand-sized fries container and set them on the rectangular beige tray.",
+    "Place the rectangular cardboard box for hamburg and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001070.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Position the brownish round hamburg and the crispy fries in hand-sized pouch on the plastic tray for holding items with both arms.",
+    "Place the hamburg with patterned brown surface and the McDonald's fries bag together onto the orange tray.",
+    "Use both arms to move the hamburg with patterned brown surface and the small red fries packet to the orange tray.",
+    "Using dual arms, lift the round hamburg and the McDonald's logo on red fries box and drop them on the orange tray.",
+    "Pick the soft brown bread hamburg and the McDonald's fries bag, and set them on the bright orange tray for serving.",
+    "Take the medium-sized hamburg and the McDonald's logo on red fries box to the bright orange tray with glossy finish and set them there.",
+    "Using both arms, grab the round, soft bread hamburg and the bright red fries holder for the medium bright orange tray.",
+    "With two arms, pick the smooth hamburg and the red box with golden sticks for the orange tray with smooth surface.",
+    "Use dual arms to place the bread bun hamburg and the McDonald's logo on red fries box onto the bright orange tray for serving",
+    "Lift the round, soft bread hamburg and the rectangular red fries packet, placing them neatly on the bright orange tray with glossy finish.",
+    "Grab the hamburg with uneven top, grab the rectangular red fries packet, and set both onto the orange tray with smooth surface.",
+    "Lift the medium, squishy hamburg and the crispy fries in hand-sized pouch and position them on the plastic tray with shiny texture.",
+    "Use both arms to transfer the light brown hamburg and the McDonald's fries bag to the medium bright orange tray.",
+    "With dual arms, move the medium-sized hamburg and the bright red fries holder onto the bright orange rectangular tray.",
+    "Put the hamburg with patterned brown surface and the bright red fries holder on the orange tray with smooth surface using both arms",
+    "Lift the round hamburg, lift the red fries packet, then set both on the smooth plastic tray.",
+    "Use dual arms to move the medium-sized hamburg and the thin crispy potato fries onto the medium-sized plastic tray",
+    "Move the smooth hamburg and the golden fries in smooth red pouch onto the orange tray with smooth surface with both arms.",
+    "Use dual arms to grab the hamburg with white patches and the rectangular red fries packet and set them on the orange tray.",
+    "Move the hamburg with uneven top and the thin crispy potato fries to the smooth glossy orange medium tray using both arms.",
+    "Set the medium-sized hamburg and the golden fries in red packaging on the bright orange rectangular tray using two arms.",
+    "Place both the round, soft bread hamburg and the bright red fries holder on the bright orange tray with glossy finish after grabbing them with both arms.",
+    "Pick up the medium-sized hamburg and the McDonald's logo on red fries box one by one and place on the medium bright orange tray.",
+    "Move the round hamburg and the crispy fries in hand-sized pouch with dual arms to the smooth glossy orange medium tray.",
+    "Using both arms, pick the round hamburg and the McDonald's logo on red fries box and drop them on the orange tray with smooth surface.",
+    "Use both arms to move the medium, squishy hamburg and the small red fries packet to the bright orange rectangular tray.",
+    "Transfer the brownish round hamburg and the McDonald's logo on red fries box to the bright orange rectangular tray with both arms",
+    "Grab the hamburg with white patches, pick the red container with yellow fries, then set them on the medium-sized plastic tray",
+    "Grab the brownish round hamburg and the small red fries packet, then put them on the plastic tray with shiny texture.",
+    "Place the hamburg with uneven top and the red fries packet on the plastic tray for holding items after picking them up.",
+    "Take the light brown hamburg and the small red fries packet, place them onto the bright orange tray with glossy finish.",
+    "Place the soft brown bread hamburg and the red container with yellow fries onto the medium bright orange tray after picking them up.",
+    "Place the brownish round hamburg and the bright red fries holder onto the bright orange tray with glossy finish using dual arms",
+    "Pick up the light brown hamburg, then the thin crispy potato fries, and place them onto the medium bright orange tray.",
+    "Using dual arms, move the brownish round hamburg and the red box with golden sticks onto the bright orange tray for serving.",
+    "Move the brownish round hamburg and the red box with golden sticks to the smooth glossy orange medium tray with both arms",
+    "Using both arms, set the medium-sized hamburg and the thin crispy potato fries onto the plastic tray with shiny texture.",
+    "Grab the round hamburg and the golden fries in smooth red pouch, use both arms to set on the bright orange rectangular tray.",
+    "Pick up the medium-sized hamburg, grab the rectangular red fries packet, place them on the bright orange tray with glossy finish",
+    "Grab the round hamburg with one arm and the golden fries in smooth red pouch with the other for the orange tray.",
+    "Lift the hamburg with uneven top and the small red fries packet, position them on the orange tray with smooth surface",
+    "Set the medium, squishy hamburg and the red fries packet down on the plastic tray for holding items after picking them.",
+    "Take the hamburg with white patches and the crispy fries in hand-sized pouch with both arms and set on the bright orange tray for serving.",
+    "Take the medium-sized hamburg, take the McDonald's logo on red fries box, and place them onto the orange tray.",
+    "Pick the medium, squishy hamburg, then the red box with golden sticks, and place them on the plastic tray with shiny texture.",
+    "Pick up the round hamburg and the rectangular red fries packet, then put both on the rectangular tray.",
+    "Grab the medium-sized hamburg, then the red container with yellow fries, and set them on the orange tray.",
+    "Pick the light brown hamburg, the thin crispy potato fries, and place them on the smooth glossy orange medium tray using both arms.",
+    "Pick up the smooth hamburg and the golden fries in red packaging, then put them on the bright orange tray with glossy finish",
+    "Grab the brownish round hamburg and the McDonald's logo on red fries box and position them on the smooth plastic tray.",
+    "Position the round, soft bread hamburg and the thin crispy potato fries on the plastic tray for holding items with both arms.",
+    "Place the round, soft bread hamburg and the crispy fries in hand-sized pouch together onto the plastic tray for holding items.",
+    "Use both arms to move the medium, squishy hamburg and the McDonald's fries bag to the bright orange tray for serving.",
+    "Using dual arms, lift the soft brown bread hamburg and the red fries packet and drop them on the orange tray with smooth surface.",
+    "Pick the soft brown bread hamburg and the red box with golden sticks, and set them on the medium bright orange tray.",
+    "Take the medium, squishy hamburg and the red fries packet to the plastic tray for holding items and set them there.",
+    "Using both arms, grab the brownish round hamburg and the red box with golden sticks for the smooth glossy orange medium tray.",
+    "With two arms, pick the round, soft bread hamburg and the McDonald's logo on red fries box for the plastic tray for holding items.",
+    "Use dual arms to place the hamburg with uneven top and the red fries packet onto the medium-sized plastic tray",
+    "Lift the light brown hamburg and the golden fries in smooth red pouch, placing them neatly on the smooth glossy orange medium tray.",
+    "Grab the light brown hamburg, grab the golden fries in red packaging, and set both onto the smooth plastic tray.",
+    "Lift the round, soft bread hamburg and the golden fries in smooth red pouch and position them on the bright orange tray for serving.",
+    "Use both arms to transfer the medium, squishy hamburg and the McDonald's logo on red fries box to the smooth glossy orange medium tray.",
+    "With dual arms, move the medium-sized hamburg and the thin crispy potato fries onto the medium-sized plastic tray.",
+    "Put the light brown hamburg and the red box with golden sticks on the medium bright orange tray using both arms",
+    "Lift the medium-sized hamburg, lift the golden fries in smooth red pouch, then set both on the smooth plastic tray.",
+    "Use dual arms to move the round hamburg and the golden fries in red packaging onto the rectangular tray",
+    "Move the soft brown bread hamburg and the golden fries in smooth red pouch onto the orange tray with both arms.",
+    "Use dual arms to grab the hamburg with white patches and the red fries packet and set them on the bright orange rectangular tray.",
+    "Move the bread bun hamburg and the bright red fries holder to the rectangular tray using both arms.",
+    "Set the brownish round hamburg and the thin crispy potato fries on the smooth plastic tray using two arms.",
+    "Place both the round hamburg and the rectangular red fries packet on the medium bright orange tray after grabbing them with both arms.",
+    "Pick up the round hamburg and the bright red fries holder one by one and place on the smooth plastic tray.",
+    "Move the hamburg with uneven top and the small red fries packet with dual arms to the orange tray with smooth surface.",
+    "Using both arms, pick the bread bun hamburg and the small red fries packet and drop them on the plastic tray for holding items.",
+    "Use both arms to move the hamburg with patterned brown surface and the red container with yellow fries to the bright orange tray for serving.",
+    "Transfer the medium-sized hamburg and the rectangular red fries packet to the plastic tray for holding items with both arms",
+    "Grab the brownish round hamburg, pick the McDonald's logo on red fries box, then set them on the orange tray with smooth surface",
+    "Grab the smooth hamburg and the crispy fries in hand-sized pouch, then put them on the medium-sized plastic tray.",
+    "Place the bread bun hamburg and the red box with golden sticks on the plastic tray with shiny texture after picking them up.",
+    "Take the hamburg with patterned brown surface and the bright red fries holder, place them onto the orange tray with smooth surface.",
+    "Place the hamburg with patterned brown surface and the red fries packet onto the orange tray with smooth surface after picking them up.",
+    "Place the round hamburg and the golden fries in red packaging onto the medium bright orange tray using dual arms",
+    "Pick up the light brown hamburg, then the rectangular red fries packet, and place them onto the plastic tray for holding items.",
+    "Using dual arms, move the smooth hamburg and the bright red fries holder onto the bright orange tray for serving.",
+    "Move the round, soft bread hamburg and the crispy fries in hand-sized pouch to the medium bright orange tray with both arms",
+    "Using both arms, set the light brown hamburg and the crispy fries in hand-sized pouch onto the rectangular tray.",
+    "Grab the light brown hamburg and the rectangular red fries packet, use both arms to set on the plastic tray with shiny texture.",
+    "Pick up the round, soft bread hamburg, grab the thin crispy potato fries, place them on the orange tray",
+    "Grab the medium, squishy hamburg with one arm and the red container with yellow fries with the other for the orange tray.",
+    "Lift the brownish round hamburg and the small red fries packet, position them on the orange tray with smooth surface",
+    "Set the hamburg with uneven top and the red container with yellow fries down on the plastic tray for holding items after picking them.",
+    "Take the round hamburg and the red box with golden sticks with both arms and set on the bright orange tray with glossy finish.",
+    "Take the light brown hamburg, take the thin crispy potato fries, and place them onto the plastic tray with shiny texture.",
+    "Pick the round, soft bread hamburg, then the McDonald's logo on red fries box, and place them on the bright orange tray for serving.",
+    "Pick up the light brown hamburg and the red box with golden sticks, then put both on the medium-sized plastic tray.",
+    "Grab the hamburg with uneven top, then the red box with golden sticks, and set them on the smooth glossy orange medium tray.",
+    "Pick the round, soft bread hamburg, the red container with yellow fries, and place them on the plastic tray for holding items using both arms.",
+    "Pick up the hamburg with uneven top and the crispy fries in hand-sized pouch, then put them on the smooth plastic tray",
+    "Grab the round, soft bread hamburg and the crispy fries in hand-sized pouch and position them on the orange tray with smooth surface."
+  ],
+  "unseen": [
+    "Pick up the hamburg with light brown top and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the palm-sized hamburg and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white sides and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Pick up the palm-sized hamburg and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Place the palm-sized hamburg and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the palm-sized hamburg and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with light brown top and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with light brown top and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick the palm-sized hamburg and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with light brown top and the golden crispy fries inside red box and set them on the medium-sized tray with rounded corners.",
+    "Grab the palm-sized hamburg and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick up the palm-sized hamburg and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg with light brown top and the hand-sized fries container on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white sides and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with white sides and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the palm-sized hamburg and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the hamburg with light brown top and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with light brown top and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick up the palm-sized hamburg and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white sides and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Place the palm-sized hamburg and the golden crispy fries inside red box onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the palm-sized hamburg and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick up the hamburg with light brown top and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the palm-sized hamburg and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with light brown top and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with white sides and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with light brown top and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with light brown top and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Place the palm-sized hamburg and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg with white sides and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with light brown top and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Pick the hamburg with light brown top and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the rectangular tray with rounded edges.",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white sides and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white sides and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg with white sides and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Grab the palm-sized hamburg and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with light brown top and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick the hamburg with light brown top and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with light brown top and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the palm-sized hamburg and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the hamburg with light brown top and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg with white sides and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with light brown top and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick up the hamburg with light brown top and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the hamburg with light brown top and the golden fries in red holder on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the hamburg with white sides and the hand-sized fries container, then place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg with white sides and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick up the hamburg with light brown top and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Place the palm-sized hamburg and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg with light brown top and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Grab the palm-sized hamburg and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with white sides and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg with white sides and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Pick the hamburg with white sides and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Grab the hamburg with light brown top and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white sides and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Pick up the palm-sized hamburg and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick up the hamburg with light brown top and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white sides and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg with light brown top and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Grab the palm-sized hamburg and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Pick up the hamburg with white sides and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg with light brown top and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Pick the palm-sized hamburg and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Grab the palm-sized hamburg and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the hamburg with white sides and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg with light brown top and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick up the hamburg with white sides and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the hamburg with white sides and the golden fries in red holder onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the palm-sized hamburg and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Grab the hamburg with white sides and the golden fries in red holder, then set them on the medium-sized tray with rounded corners"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001072.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the smooth white hamburg packaging and the small red fries packet on the single-piece dark green tray after picking them up.",
+    "Use dual arms to grab the white hamburg and the golden fries in red packaging and set them on the smooth texture green tray.",
+    "Move the wrapped hamburg with white plastic-like cover and the golden fries in red packaging to the dark green serving tray using both arms.",
+    "Move the palm-sized hamburg packaging and the rectangular red fries packet with dual arms to the plastic tray with curved edges.",
+    "Position the white hamburg with creased wrapper and the rectangular red fries packet on the dark green serving tray with both arms.",
+    "Take the white hamburg with creased wrapper, take the bright red fries holder, and place them onto the single-piece dark green tray.",
+    "Pick up the palm-sized hamburg packaging, grab the red box with golden sticks, place them on the rectangular green tray",
+    "Use both arms to move the hamburg with printed illustrations and the small red fries packet to the rectangular green tray.",
+    "Pick up the white hamburg and the golden fries in smooth red pouch, then put both on the dark green rectangular plastic tray.",
+    "Use both arms to transfer the white hamburg with yellow and brown stains and the bright red fries holder to the tray for serving items.",
+    "Pick up the hamburg with yellow and brown marks, then the red box with golden sticks, and place them onto the tray for serving items.",
+    "Grab the white hamburg with yellow and brown stains, then the red container with yellow fries, and set them on the tray with rounded corners.",
+    "Pick the hamburg with printed illustrations, then the McDonald's fries bag, and place them on the flat green rectangular tray.",
+    "With dual arms, move the smooth white hamburg wrap with yellow spots and the McDonald's logo on red fries box onto the dark green serving tray.",
+    "Pick up the smooth white hamburg wrap with yellow spots and the golden fries in red packaging, then put them on the single-piece dark green tray",
+    "Lift the smooth white hamburg packaging, lift the McDonald's logo on red fries box, then set both on the flat green rectangular tray.",
+    "Set the palm-sized hamburg packaging and the red box with golden sticks down on the tray for holding objects after picking them.",
+    "Place the palm-sized hamburg packaging and the red box with golden sticks onto the rectangular green tray using dual arms",
+    "Grab the wrapped hamburg with white plastic-like cover, pick the red fries packet, then set them on the flat green rectangular tray",
+    "Move the hamburg with printed illustrations and the red fries packet onto the flat green rectangular tray with both arms.",
+    "Take the smooth white hamburg wrap with yellow spots and the small red fries packet with both arms and set on the single-piece dark green tray.",
+    "Pick the white hamburg with creased wrapper, the thin crispy potato fries, and place them on the dark green serving tray using both arms.",
+    "Using dual arms, lift the smooth white hamburg packaging and the rectangular red fries packet and drop them on the solid green palm-sized tray.",
+    "Set the smooth white hamburg wrap with yellow spots and the thin crispy potato fries on the flat green rectangular tray using two arms.",
+    "Use dual arms to move the rectangular hamburg wrap with printed design and the rectangular red fries packet onto the smooth texture green tray",
+    "Move the palm-sized hamburg packaging and the crispy fries in hand-sized pouch to the solid green palm-sized tray with both arms",
+    "Using both arms, pick the hamburg with crumpled edges and the McDonald's logo on red fries box and drop them on the tray with rounded corners.",
+    "Using both arms, set the smooth white hamburg packaging and the golden fries in red packaging onto the flat green rectangular tray.",
+    "Lift the hamburg with printed illustrations and the golden fries in smooth red pouch and position them on the tray for holding objects.",
+    "Pick up the hamburg with yellow and brown marks and the golden fries in smooth red pouch one by one and place on the rectangular green tray.",
+    "Grab the white hamburg with creased wrapper and the McDonald's logo on red fries box, use both arms to set on the single-piece dark green tray.",
+    "Lift the smooth white hamburg wrap with yellow spots and the red container with yellow fries, placing them neatly on the tray for serving items.",
+    "Put the yellow and brown patterned hamburg and the red box with golden sticks on the dark green serving tray using both arms",
+    "Pick the rectangular hamburg wrap with printed design and the rectangular red fries packet, and set them on the smooth texture green tray.",
+    "Place both the hamburg with crumpled edges and the McDonald's logo on red fries box on the flat green rectangular tray after grabbing them with both arms.",
+    "Place the smooth white hamburg packaging and the McDonald's logo on red fries box onto the single-piece dark green tray after picking them up.",
+    "Using both arms, grab the hamburg with yellow and brown marks and the small red fries packet for the single-piece dark green tray.",
+    "Grab the yellow and brown patterned hamburg with one arm and the crispy fries in hand-sized pouch with the other for the dark green serving tray.",
+    "Use both arms to move the smooth white hamburg packaging and the small red fries packet to the flat green rectangular tray.",
+    "Take the white hamburg with creased wrapper and the golden fries in smooth red pouch, place them onto the tray for serving items.",
+    "Use dual arms to place the rectangular hamburg wrap with printed design and the small red fries packet onto the tray for serving items",
+    "Take the white hamburg with creased wrapper and the red container with yellow fries to the plastic tray with curved edges and set them there.",
+    "Lift the smooth white hamburg wrap with yellow spots and the small red fries packet, position them on the rectangular green tray",
+    "Grab the white hamburg with creased wrapper, grab the red fries packet, and set both onto the rectangular green tray.",
+    "Grab the rectangular hamburg wrap with printed design and the rectangular red fries packet, then put them on the dark green rectangular plastic tray.",
+    "Place the smooth white hamburg packaging and the golden fries in red packaging together onto the dark green rectangular plastic tray.",
+    "With two arms, pick the hamburg with crumpled edges and the bright red fries holder for the medium plastic tray.",
+    "Using dual arms, move the white hamburg with yellow and brown stains and the crispy fries in hand-sized pouch onto the dark green serving tray.",
+    "Grab the hamburg with crumpled edges and the rectangular red fries packet and position them on the single-piece dark green tray.",
+    "Transfer the white hamburg and the red box with golden sticks to the medium plastic tray with both arms",
+    "Place the white hamburg with creased wrapper and the McDonald's logo on red fries box on the flat green rectangular tray after picking them up.",
+    "Use dual arms to grab the white hamburg and the red fries packet and set them on the tray for serving items.",
+    "Move the wrapped hamburg with white plastic-like cover and the bright red fries holder to the medium plastic tray using both arms.",
+    "Move the rectangular hamburg wrap with printed design and the golden fries in red packaging with dual arms to the smooth texture green tray.",
+    "Position the wrapped hamburg with white plastic-like cover and the McDonald's fries bag on the plastic tray with curved edges with both arms.",
+    "Take the white hamburg with creased wrapper, take the crispy fries in hand-sized pouch, and place them onto the rectangular green tray.",
+    "Pick up the smooth white hamburg packaging, grab the thin crispy potato fries, place them on the rectangular green tray",
+    "Use both arms to move the white hamburg with creased wrapper and the red box with golden sticks to the solid green palm-sized tray.",
+    "Pick up the hamburg with crumpled edges and the thin crispy potato fries, then put both on the tray for holding objects.",
+    "Use both arms to transfer the white hamburg and the McDonald's logo on red fries box to the solid green palm-sized tray.",
+    "Pick up the yellow and brown patterned hamburg, then the thin crispy potato fries, and place them onto the solid green palm-sized tray.",
+    "Grab the smooth white hamburg wrap with yellow spots, then the red box with golden sticks, and set them on the dark green rectangular plastic tray.",
+    "Pick the hamburg with crumpled edges, then the McDonald's fries bag, and place them on the flat green rectangular tray.",
+    "With dual arms, move the palm-sized hamburg packaging and the golden fries in red packaging onto the smooth texture green tray.",
+    "Pick up the hamburg with printed illustrations and the bright red fries holder, then put them on the dark green rectangular plastic tray",
+    "Lift the white hamburg, lift the red fries packet, then set both on the single-piece dark green tray.",
+    "Set the wrapped hamburg with white plastic-like cover and the bright red fries holder down on the tray for serving items after picking them.",
+    "Place the smooth white hamburg packaging and the bright red fries holder onto the tray for holding objects using dual arms",
+    "Grab the hamburg with printed illustrations, pick the golden fries in smooth red pouch, then set them on the flat green rectangular tray",
+    "Move the hamburg with crumpled edges and the golden fries in red packaging onto the medium plastic tray with both arms.",
+    "Take the smooth white hamburg packaging and the red fries packet with both arms and set on the flat green rectangular tray.",
+    "Pick the wrapped hamburg with white plastic-like cover, the McDonald's logo on red fries box, and place them on the medium plastic tray using both arms.",
+    "Using dual arms, lift the yellow and brown patterned hamburg and the golden fries in red packaging and drop them on the flat green rectangular tray.",
+    "Set the hamburg with crumpled edges and the red box with golden sticks on the rectangular green tray using two arms.",
+    "Use dual arms to move the yellow and brown patterned hamburg and the crispy fries in hand-sized pouch onto the tray with rounded corners",
+    "Move the hamburg with printed illustrations and the small red fries packet to the tray for holding objects with both arms",
+    "Using both arms, pick the rectangular hamburg wrap with printed design and the bright red fries holder and drop them on the smooth texture green tray.",
+    "Using both arms, set the smooth white hamburg wrap with yellow spots and the McDonald's fries bag onto the solid green palm-sized tray.",
+    "Lift the hamburg with crumpled edges and the McDonald's fries bag and position them on the rectangular green tray.",
+    "Pick up the rectangular hamburg wrap with printed design and the golden fries in smooth red pouch one by one and place on the medium plastic tray.",
+    "Grab the white hamburg with creased wrapper and the crispy fries in hand-sized pouch, use both arms to set on the solid green palm-sized tray.",
+    "Lift the white hamburg with creased wrapper and the red container with yellow fries, placing them neatly on the solid green palm-sized tray.",
+    "Put the yellow and brown patterned hamburg and the McDonald's fries bag on the tray for holding objects using both arms",
+    "Pick the rectangular hamburg wrap with printed design and the crispy fries in hand-sized pouch, and set them on the dark green serving tray.",
+    "Place both the wrapped hamburg with white plastic-like cover and the golden fries in smooth red pouch on the smooth texture green tray after grabbing them with both arms.",
+    "Place the white hamburg and the red box with golden sticks onto the medium plastic tray after picking them up.",
+    "Using both arms, grab the hamburg with crumpled edges and the McDonald's logo on red fries box for the medium plastic tray.",
+    "Grab the hamburg with yellow and brown marks with one arm and the small red fries packet with the other for the dark green serving tray.",
+    "Use both arms to move the rectangular hamburg wrap with printed design and the golden fries in smooth red pouch to the smooth texture green tray.",
+    "Take the palm-sized hamburg packaging and the red container with yellow fries, place them onto the medium plastic tray.",
+    "Use dual arms to place the rectangular hamburg wrap with printed design and the McDonald's fries bag onto the tray for holding objects",
+    "Take the hamburg with printed illustrations and the bright red fries holder to the dark green rectangular plastic tray and set them there.",
+    "Lift the smooth white hamburg packaging and the golden fries in red packaging, position them on the tray for holding objects",
+    "Grab the hamburg with yellow and brown marks, grab the crispy fries in hand-sized pouch, and set both onto the smooth texture green tray.",
+    "Grab the white hamburg with creased wrapper and the red fries packet, then put them on the tray for holding objects.",
+    "Place the smooth white hamburg packaging and the rectangular red fries packet together onto the medium plastic tray.",
+    "With two arms, pick the white hamburg with creased wrapper and the red container with yellow fries for the smooth texture green tray.",
+    "Using dual arms, move the palm-sized hamburg packaging and the rectangular red fries packet onto the smooth texture green tray.",
+    "Grab the white hamburg and the McDonald's logo on red fries box and position them on the dark green serving tray.",
+    "Transfer the rectangular hamburg wrap with printed design and the red box with golden sticks to the smooth texture green tray with both arms"
+  ],
+  "unseen": [
+    "Grab the small yellow-marked hamburg wrapper and the hand-sized fries container together, setting them on the green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder and place them on the medium green tray for carrying.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden crispy fries inside red box on the medium green tray for carrying.",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container together, then drop on the green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container, then place on the smooth green tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the smooth green tray",
+    "Pick the rounded rectangular hamburg wrap and the hand-sized fries container, place them on the medium green tray for carrying.",
+    "Place the rounded rectangular hamburg wrap and the golden crispy fries inside red box onto the medium green tray for carrying.",
+    "Grab the rounded rectangular hamburg wrap and the golden crispy fries inside red box together, setting them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container and place them on the green tray.",
+    "Use both arms to place the hamburg with uneven white surface and the hand-sized fries container on the green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, then place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the smooth green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden fries in red holder and set them on the smooth green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container, then place on the green tray.",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box, then set them on the green tray",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the green tray.",
+    "Place the rounded rectangular hamburg wrap and the hand-sized fries container onto the smooth green tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder together, setting them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and place them on the medium green tray for carrying.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden crispy fries inside red box on the medium green tray for carrying.",
+    "Pick the hamburg with uneven white surface and the golden fries in red holder, then place them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the medium green tray for carrying",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden fries in red holder and set them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder, then place on the smooth green tray.",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the green tray",
+    "Pick the hamburg with uneven white surface and the golden fries in red holder, place them on the green tray.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the medium green tray for carrying.",
+    "Grab the rounded rectangular hamburg wrap and the golden fries in red holder together, setting them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container and place them on the green tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden fries in red holder on the smooth green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden fries in red holder, then place them on the green tray.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container, then place on the smooth green tray.",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box, then set them on the medium green tray for carrying",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the smooth green tray.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the green tray.",
+    "Grab the rounded rectangular hamburg wrap and the hand-sized fries container together, setting them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box and place them on the smooth green tray.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden fries in red holder on the green tray.",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, then place them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the golden fries in red holder together, then drop on the smooth green tray",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the golden fries in red holder and set them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place on the smooth green tray.",
+    "Grab the hamburg with uneven white surface and the golden fries in red holder, then set them on the medium green tray for carrying",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, place them on the medium green tray for carrying.",
+    "Place the small yellow-marked hamburg wrapper and the golden fries in red holder onto the smooth green tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container and place them on the smooth green tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden crispy fries inside red box on the medium green tray for carrying.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, then place them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the golden crispy fries inside red box together, then drop on the green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container, then place on the medium green tray for carrying.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then set them on the smooth green tray",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, place them on the smooth green tray.",
+    "Place the small yellow-marked hamburg wrapper and the golden fries in red holder onto the medium green tray for carrying.",
+    "Grab the rounded rectangular hamburg wrap and the golden fries in red holder together, setting them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder and place them on the green tray.",
+    "Use both arms to place the hamburg with uneven white surface and the golden fries in red holder on the smooth green tray.",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, then place them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder together, then drop on the green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the hand-sized fries container and set them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container, then place on the medium green tray for carrying.",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the green tray",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the green tray.",
+    "Place the rounded rectangular hamburg wrap and the golden fries in red holder onto the smooth green tray.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, setting them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and place them on the medium green tray for carrying.",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the golden fries in red holder on the smooth green tray.",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, then place them on the smooth green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder together, then drop on the green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with uneven white surface and the hand-sized fries container, then place on the medium green tray for carrying.",
+    "Grab the small yellow-marked hamburg wrapper and the golden fries in red holder, then set them on the smooth green tray",
+    "Pick the small yellow-marked hamburg wrapper and the hand-sized fries container, place them on the medium green tray for carrying.",
+    "Place the rounded rectangular hamburg wrap and the golden crispy fries inside red box onto the green tray.",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container together, setting them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the hand-sized fries container and place them on the smooth green tray.",
+    "Use both arms to place the rounded rectangular hamburg wrap and the golden crispy fries inside red box on the smooth green tray.",
+    "Pick the rounded rectangular hamburg wrap and the golden crispy fries inside red box, then place them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, then drop on the smooth green tray",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box and set them on the smooth green tray.",
+    "Pick up the hamburg with uneven white surface and the golden fries in red holder, then place on the green tray.",
+    "Grab the hamburg with uneven white surface and the hand-sized fries container, then set them on the smooth green tray",
+    "Pick the hamburg with uneven white surface and the hand-sized fries container, place them on the green tray.",
+    "Place the hamburg with uneven white surface and the hand-sized fries container onto the medium green tray for carrying.",
+    "Grab the small yellow-marked hamburg wrapper and the golden crispy fries inside red box together, setting them on the medium green tray for carrying.",
+    "Pick up the rounded rectangular hamburg wrap and the hand-sized fries container and place them on the smooth green tray.",
+    "Use both arms to place the hamburg with uneven white surface and the golden fries in red holder on the medium green tray for carrying.",
+    "Pick the hamburg with uneven white surface and the golden crispy fries inside red box, then place them on the green tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder together, then drop on the smooth green tray",
+    "Use both arms to grab the hamburg with uneven white surface and the hand-sized fries container and set them on the medium green tray for carrying.",
+    "Pick up the small yellow-marked hamburg wrapper and the golden fries in red holder, then place on the green tray.",
+    "Grab the hamburg with uneven white surface and the golden crispy fries inside red box, then set them on the green tray",
+    "Pick the small yellow-marked hamburg wrapper and the golden crispy fries inside red box, place them on the smooth green tray.",
+    "Place the small yellow-marked hamburg wrapper and the hand-sized fries container onto the smooth green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001079.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With two arms, pick the yellow box for hamburg and the Red fries box for the tray with rounded corners.",
+    "Set the hamburg box with foldable top and the Palm-sized red fries container on the plastic tray with curved edges using two arms.",
+    "Pick the white and yellow printed hamburg holder, then the Light yellow fries in red holder, and place them on the smooth texture green tray.",
+    "Move the yellow hamburg box and the Golden fries sticks in red carton to the plastic tray with curved edges with both arms",
+    "Using both arms, set the medium-sized box with hamburg design and the Small red box fries inside onto the flat green rectangular tray.",
+    "Lift the white lid with yellow bottom hamburg box and the Open-top red box filled with fries, position them on the plastic tray with curved edges",
+    "Move the medium-sized box with hamburg design and the Potato fries packaged in red carton onto the smooth texture green tray with both arms.",
+    "Move the white and yellow printed hamburg holder and the Bright red box with fries inside to the single-piece dark green tray using both arms.",
+    "Grab the rectangular hamburg box with one arm and the Palm-sized red fries container with the other for the smooth texture green tray.",
+    "Grab the foldable hamburg cardboard box, grab the Open-top red box filled with fries, and set both onto the tray for serving items.",
+    "Using both arms, pick the medium-sized box with hamburg design and the Palm-sized red fries container and drop them on the dark green rectangular plastic tray.",
+    "Grab the yellow hamburg box with white accents, pick the Small red box fries inside, then set them on the single-piece dark green tray",
+    "Lift the white and yellow printed hamburg holder and the Light yellow fries in red holder and position them on the plastic tray with curved edges.",
+    "Grab the smooth yellow hamburg packaging, then the French fries in red packaging, and set them on the rectangular green tray.",
+    "With dual arms, move the medium-sized box with hamburg design and the Golden fries crispy red package container onto the rectangular green tray.",
+    "Using both arms, grab the rectangular hamburg box and the French fries in red packaging for the single-piece dark green tray.",
+    "Put the foldable hamburg cardboard box and the Golden fries crispy red package container on the tray for serving items using both arms",
+    "Pick the white lid with yellow bottom hamburg box and the Light yellow fries in red holder, and set them on the flat green rectangular tray.",
+    "Position the medium-sized yellow hamburg package and the Handheld fries pack bright red color on the dark green serving tray with both arms.",
+    "Pick up the white and yellow printed hamburg holder, then the Handheld fries pack bright red color, and place them onto the single-piece dark green tray.",
+    "Take the foldable hamburg cardboard box and the Golden fries sticks in red carton, place them onto the tray with rounded corners.",
+    "Grab the hamburg box with foldable top and the Small red box fries inside, use both arms to set on the dark green rectangular plastic tray.",
+    "Pick up the hamburg box with foldable top and the Palm-sized red fries container one by one and place on the tray with rounded corners.",
+    "Take the medium-sized yellow hamburg package and the Red fries box with both arms and set on the tray with rounded corners.",
+    "Use dual arms to grab the bright yellow hamburg box with logo and the Light yellow fries in red holder and set them on the smooth texture green tray.",
+    "Place the medium-sized yellow hamburg package and the Handheld fries pack bright red color together onto the dark green serving tray.",
+    "Grab the hamburg box with foldable top and the Golden fries crispy red package container and position them on the solid green palm-sized tray.",
+    "Using dual arms, move the medium-sized box with hamburg design and the French fries in red packaging onto the tray for serving items.",
+    "Use dual arms to move the yellow box for hamburg and the Small red box fries inside onto the tray with rounded corners",
+    "Take the yellow hamburg box with white accents and the Small red box fries inside to the dark green serving tray and set them there.",
+    "Place the medium-sized yellow hamburg package and the Handheld fries pack bright red color on the tray with rounded corners after picking them up.",
+    "Use dual arms to place the foldable hamburg cardboard box and the Palm-sized red fries container onto the tray for serving items",
+    "Place the yellow hamburg box with white accents and the Golden fries sticks in red carton onto the smooth texture green tray after picking them up.",
+    "Use both arms to transfer the yellow hamburg box with white accents and the Potato fries packaged in red carton to the dark green serving tray.",
+    "Take the white lid with yellow bottom hamburg box, take the Small red box fries inside, and place them onto the plastic tray with curved edges.",
+    "Pick the medium-sized yellow hamburg package, the Golden fries sticks in red carton, and place them on the dark green rectangular plastic tray using both arms.",
+    "Pick up the smooth yellow hamburg packaging and the Potato fries packaged in red carton, then put them on the dark green serving tray",
+    "Use both arms to move the yellow hamburg box with white accents and the Open-top red box filled with fries to the plastic tray with curved edges.",
+    "Set the yellow hamburg box with white accents and the Small red box fries inside down on the tray with rounded corners after picking them.",
+    "Grab the hamburg box with foldable top and the Rectangular red carton holding fries, then put them on the dark green rectangular plastic tray.",
+    "Transfer the hamburg box with foldable top and the Light yellow fries in red holder to the tray for serving items with both arms",
+    "Use both arms to move the white and yellow printed hamburg holder and the Small red box fries inside to the tray with rounded corners.",
+    "Move the white lid with yellow bottom hamburg box and the French fries in red packaging with dual arms to the tray for holding objects.",
+    "Using dual arms, lift the medium-sized yellow hamburg package and the Red fries box and drop them on the solid green palm-sized tray.",
+    "Place the medium-sized yellow hamburg package and the Open-top red box filled with fries onto the medium plastic tray using dual arms",
+    "Pick up the white and yellow printed hamburg holder and the Palm-sized red fries container, then put both on the medium plastic tray.",
+    "Lift the white lid with yellow bottom hamburg box and the Red fries box, placing them neatly on the dark green serving tray.",
+    "Place both the smooth yellow hamburg packaging and the Small red box fries inside on the tray for holding objects after grabbing them with both arms.",
+    "Lift the rectangular hamburg box, lift the Bright red box with fries inside, then set both on the tray for holding objects.",
+    "Pick up the rectangular hamburg box, grab the Golden fries crispy red package container, place them on the tray with rounded corners",
+    "With two arms, pick the yellow hamburg box with white accents and the Potato fries packaged in red carton for the tray for holding objects.",
+    "Set the yellow box for hamburg and the Light yellow fries in red holder on the rectangular green tray using two arms.",
+    "Pick the foldable hamburg cardboard box, then the Handheld fries pack bright red color, and place them on the rectangular green tray.",
+    "Move the yellow hamburg box and the Red fries box to the tray for holding objects with both arms",
+    "Using both arms, set the medium-sized box with hamburg design and the Rectangular red carton holding fries onto the smooth texture green tray.",
+    "Lift the foldable hamburg cardboard box and the Open-top red box filled with fries, position them on the tray with rounded corners",
+    "Move the smooth yellow hamburg packaging and the Rectangular red carton holding fries onto the tray for serving items with both arms.",
+    "Move the yellow hamburg box and the Light yellow fries in red holder to the smooth texture green tray using both arms.",
+    "Grab the rectangular hamburg box with one arm and the Potato fries packaged in red carton with the other for the smooth texture green tray.",
+    "Grab the medium-sized yellow hamburg package, grab the Golden fries sticks in red carton, and set both onto the single-piece dark green tray.",
+    "Using both arms, pick the rectangular hamburg box and the Rectangular red carton holding fries and drop them on the rectangular green tray.",
+    "Grab the smooth yellow hamburg packaging, pick the Rectangular red carton holding fries, then set them on the single-piece dark green tray",
+    "Lift the yellow box for hamburg and the Bright red box with fries inside and position them on the single-piece dark green tray.",
+    "Grab the medium-sized yellow hamburg package, then the Golden fries sticks in red carton, and set them on the rectangular green tray.",
+    "With dual arms, move the white and yellow printed hamburg holder and the Rectangular red carton holding fries onto the single-piece dark green tray.",
+    "Using both arms, grab the white and yellow printed hamburg holder and the Golden fries sticks in red carton for the rectangular green tray.",
+    "Put the yellow hamburg box and the Palm-sized red fries container on the smooth texture green tray using both arms",
+    "Pick the rectangular hamburg box and the French fries in red packaging, and set them on the dark green serving tray.",
+    "Position the medium-sized box with hamburg design and the Rectangular red carton holding fries on the medium plastic tray with both arms.",
+    "Pick up the yellow box for hamburg, then the Rectangular red carton holding fries, and place them onto the medium plastic tray.",
+    "Take the yellow hamburg box with white accents and the Potato fries packaged in red carton, place them onto the plastic tray with curved edges.",
+    "Grab the medium-sized yellow hamburg package and the Rectangular red carton holding fries, use both arms to set on the rectangular green tray.",
+    "Pick up the hamburg box with foldable top and the Golden fries crispy red package container one by one and place on the solid green palm-sized tray.",
+    "Take the medium-sized box with hamburg design and the Bright red box with fries inside with both arms and set on the dark green rectangular plastic tray.",
+    "Use dual arms to grab the yellow box for hamburg and the Palm-sized red fries container and set them on the medium plastic tray.",
+    "Place the hamburg box with foldable top and the Light yellow fries in red holder together onto the smooth texture green tray.",
+    "Grab the white lid with yellow bottom hamburg box and the Golden fries crispy red package container and position them on the solid green palm-sized tray.",
+    "Using dual arms, move the yellow hamburg box with white accents and the Light yellow fries in red holder onto the flat green rectangular tray.",
+    "Use dual arms to move the hamburg box with foldable top and the Palm-sized red fries container onto the rectangular green tray",
+    "Take the smooth yellow hamburg packaging and the Rectangular red carton holding fries to the dark green rectangular plastic tray and set them there.",
+    "Place the bright yellow hamburg box with logo and the Red fries box on the solid green palm-sized tray after picking them up.",
+    "Use dual arms to place the white and yellow printed hamburg holder and the Golden fries sticks in red carton onto the plastic tray with curved edges",
+    "Place the white and yellow printed hamburg holder and the Potato fries packaged in red carton onto the solid green palm-sized tray after picking them up.",
+    "Use both arms to transfer the foldable hamburg cardboard box and the Potato fries packaged in red carton to the plastic tray with curved edges.",
+    "Take the bright yellow hamburg box with logo, take the Rectangular red carton holding fries, and place them onto the flat green rectangular tray.",
+    "Pick the yellow hamburg box with white accents, the Light yellow fries in red holder, and place them on the rectangular green tray using both arms.",
+    "Pick up the medium-sized box with hamburg design and the Potato fries packaged in red carton, then put them on the rectangular green tray",
+    "Use both arms to move the hamburg box with foldable top and the Golden fries sticks in red carton to the solid green palm-sized tray.",
+    "Set the smooth yellow hamburg packaging and the Red fries box down on the rectangular green tray after picking them.",
+    "Grab the medium-sized box with hamburg design and the Golden fries sticks in red carton, then put them on the tray for holding objects.",
+    "Transfer the medium-sized box with hamburg design and the Golden fries crispy red package container to the tray for holding objects with both arms",
+    "Use both arms to move the white lid with yellow bottom hamburg box and the Light yellow fries in red holder to the dark green rectangular plastic tray.",
+    "Move the white lid with yellow bottom hamburg box and the Small red box fries inside with dual arms to the tray for holding objects.",
+    "Using dual arms, lift the smooth yellow hamburg packaging and the Light yellow fries in red holder and drop them on the dark green rectangular plastic tray.",
+    "Place the hamburg box with foldable top and the Rectangular red carton holding fries onto the medium plastic tray using dual arms",
+    "Pick up the yellow hamburg box and the Small red box fries inside, then put both on the single-piece dark green tray.",
+    "Lift the yellow hamburg box with white accents and the Golden fries sticks in red carton, placing them neatly on the plastic tray with curved edges.",
+    "Place both the bright yellow hamburg box with logo and the French fries in red packaging on the tray with rounded corners after grabbing them with both arms.",
+    "Lift the rectangular hamburg box, lift the Open-top red box filled with fries, then set both on the medium plastic tray.",
+    "Pick up the yellow box for hamburg, grab the Palm-sized red fries container, place them on the single-piece dark green tray"
+  ],
+  "unseen": [
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the green tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the green tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the green tray",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the smooth green tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the smooth green tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the green tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the green tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the green tray",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the green tray",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the green tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the smooth green tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001081.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the light brown hamburg and the French fries in red packaging, then put both on the rectangular green tray.",
+    "Take the brownish round hamburg and the Red fries box to the tray with rounded corners and set them there.",
+    "With dual arms, move the hamburg with white patches and the Small red box fries inside onto the tray for holding objects.",
+    "Position the medium-sized hamburg and the French fries in red packaging on the tray for serving items with both arms.",
+    "Pick up the medium-sized hamburg and the French fries in red packaging, then put them on the dark green serving tray",
+    "Use both arms to transfer the hamburg with white patches and the French fries in red packaging to the tray with rounded corners.",
+    "Use dual arms to move the light brown hamburg and the Potato fries packaged in red carton onto the tray with rounded corners",
+    "Move the smooth hamburg and the Bright red box with fries inside onto the tray for holding objects with both arms.",
+    "Grab the bread bun hamburg and the Rectangular red carton holding fries, use both arms to set on the medium plastic tray.",
+    "Place the medium, squishy hamburg and the Bright red box with fries inside onto the smooth texture green tray using dual arms",
+    "Set the medium, squishy hamburg and the Open-top red box filled with fries on the single-piece dark green tray using two arms.",
+    "Put the bread bun hamburg and the Potato fries packaged in red carton on the tray with rounded corners using both arms",
+    "Take the hamburg with uneven top, take the Open-top red box filled with fries, and place them onto the solid green palm-sized tray.",
+    "Grab the medium, squishy hamburg and the Potato fries packaged in red carton, then put them on the flat green rectangular tray.",
+    "Lift the smooth hamburg and the Rectangular red carton holding fries and position them on the tray with rounded corners.",
+    "Pick the smooth hamburg, the Small red box fries inside, and place them on the single-piece dark green tray using both arms.",
+    "With two arms, pick the smooth hamburg and the French fries in red packaging for the flat green rectangular tray.",
+    "Place both the light brown hamburg and the Bright red box with fries inside on the tray for serving items after grabbing them with both arms.",
+    "Take the medium-sized hamburg and the Handheld fries pack bright red color with both arms and set on the rectangular green tray.",
+    "Pick up the smooth hamburg, grab the Small red box fries inside, place them on the dark green rectangular plastic tray",
+    "Lift the round hamburg and the Potato fries packaged in red carton, position them on the smooth texture green tray",
+    "Use both arms to move the round hamburg and the Golden fries sticks in red carton to the tray with rounded corners.",
+    "Take the round hamburg and the Palm-sized red fries container, place them onto the rectangular green tray.",
+    "Pick the light brown hamburg, then the Rectangular red carton holding fries, and place them on the solid green palm-sized tray.",
+    "Grab the medium, squishy hamburg, grab the Open-top red box filled with fries, and set both onto the smooth texture green tray.",
+    "Using both arms, grab the hamburg with patterned brown surface and the Potato fries packaged in red carton for the solid green palm-sized tray.",
+    "Place the round hamburg and the Palm-sized red fries container onto the medium plastic tray after picking them up.",
+    "Pick up the hamburg with white patches, then the Golden fries sticks in red carton, and place them onto the rectangular green tray.",
+    "Move the medium, squishy hamburg and the Red fries box to the smooth texture green tray with both arms",
+    "Pick up the brownish round hamburg and the Golden fries crispy red package container one by one and place on the rectangular green tray.",
+    "Using dual arms, move the smooth hamburg and the Bright red box with fries inside onto the flat green rectangular tray.",
+    "Lift the round, soft bread hamburg, lift the Golden fries crispy red package container, then set both on the smooth texture green tray.",
+    "Use dual arms to grab the round hamburg and the Palm-sized red fries container and set them on the smooth texture green tray.",
+    "Grab the hamburg with patterned brown surface and the Rectangular red carton holding fries and position them on the medium plastic tray.",
+    "Using both arms, set the brownish round hamburg and the Golden fries sticks in red carton onto the single-piece dark green tray.",
+    "Pick the medium-sized hamburg and the Light yellow fries in red holder, and set them on the smooth texture green tray.",
+    "Grab the medium, squishy hamburg, then the Golden fries crispy red package container, and set them on the plastic tray with curved edges.",
+    "Grab the smooth hamburg, pick the Handheld fries pack bright red color, then set them on the smooth texture green tray",
+    "Using dual arms, lift the round, soft bread hamburg and the Bright red box with fries inside and drop them on the flat green rectangular tray.",
+    "Place the medium-sized hamburg and the Golden fries sticks in red carton on the dark green rectangular plastic tray after picking them up.",
+    "Set the bread bun hamburg and the Open-top red box filled with fries down on the smooth texture green tray after picking them.",
+    "Using both arms, pick the medium, squishy hamburg and the Red fries box and drop them on the tray for serving items.",
+    "Grab the medium, squishy hamburg with one arm and the Small red box fries inside with the other for the solid green palm-sized tray.",
+    "Transfer the medium-sized hamburg and the Red fries box to the rectangular green tray with both arms",
+    "Place the round, soft bread hamburg and the Handheld fries pack bright red color together onto the solid green palm-sized tray.",
+    "Move the brownish round hamburg and the Open-top red box filled with fries with dual arms to the rectangular green tray.",
+    "Use both arms to move the hamburg with white patches and the Handheld fries pack bright red color to the tray for holding objects.",
+    "Move the hamburg with white patches and the Palm-sized red fries container to the single-piece dark green tray using both arms.",
+    "Use dual arms to place the smooth hamburg and the Bright red box with fries inside onto the plastic tray with curved edges",
+    "Lift the hamburg with uneven top and the French fries in red packaging, placing them neatly on the medium plastic tray.",
+    "Pick up the hamburg with uneven top and the Bright red box with fries inside, then put both on the plastic tray with curved edges.",
+    "Take the medium-sized hamburg and the Small red box fries inside to the tray for serving items and set them there.",
+    "With dual arms, move the medium, squishy hamburg and the French fries in red packaging onto the dark green serving tray.",
+    "Position the hamburg with patterned brown surface and the Small red box fries inside on the solid green palm-sized tray with both arms.",
+    "Pick up the round, soft bread hamburg and the Golden fries sticks in red carton, then put them on the tray for serving items",
+    "Use both arms to transfer the round, soft bread hamburg and the Potato fries packaged in red carton to the tray for serving items.",
+    "Use dual arms to move the bread bun hamburg and the Bright red box with fries inside onto the medium plastic tray",
+    "Move the soft brown bread hamburg and the Open-top red box filled with fries onto the rectangular green tray with both arms.",
+    "Grab the bread bun hamburg and the Golden fries crispy red package container, use both arms to set on the dark green serving tray.",
+    "Place the medium-sized hamburg and the Open-top red box filled with fries onto the tray with rounded corners using dual arms",
+    "Set the hamburg with uneven top and the Bright red box with fries inside on the dark green rectangular plastic tray using two arms.",
+    "Put the light brown hamburg and the Rectangular red carton holding fries on the rectangular green tray using both arms",
+    "Take the brownish round hamburg, take the Red fries box, and place them onto the dark green rectangular plastic tray.",
+    "Grab the smooth hamburg and the French fries in red packaging, then put them on the medium plastic tray.",
+    "Lift the light brown hamburg and the Rectangular red carton holding fries and position them on the solid green palm-sized tray.",
+    "Pick the smooth hamburg, the Handheld fries pack bright red color, and place them on the tray with rounded corners using both arms.",
+    "With two arms, pick the round, soft bread hamburg and the French fries in red packaging for the tray with rounded corners.",
+    "Place both the smooth hamburg and the Potato fries packaged in red carton on the smooth texture green tray after grabbing them with both arms.",
+    "Take the light brown hamburg and the Open-top red box filled with fries with both arms and set on the plastic tray with curved edges.",
+    "Pick up the hamburg with patterned brown surface, grab the Bright red box with fries inside, place them on the solid green palm-sized tray",
+    "Lift the smooth hamburg and the Bright red box with fries inside, position them on the tray for holding objects",
+    "Use both arms to move the brownish round hamburg and the Palm-sized red fries container to the single-piece dark green tray.",
+    "Take the hamburg with patterned brown surface and the Golden fries crispy red package container, place them onto the plastic tray with curved edges.",
+    "Pick the round hamburg, then the Small red box fries inside, and place them on the plastic tray with curved edges.",
+    "Grab the brownish round hamburg, grab the Open-top red box filled with fries, and set both onto the dark green serving tray.",
+    "Using both arms, grab the round, soft bread hamburg and the Small red box fries inside for the flat green rectangular tray.",
+    "Place the round hamburg and the French fries in red packaging onto the tray for serving items after picking them up.",
+    "Pick up the hamburg with patterned brown surface, then the Red fries box, and place them onto the tray for holding objects.",
+    "Move the medium, squishy hamburg and the Palm-sized red fries container to the tray for serving items with both arms",
+    "Pick up the round, soft bread hamburg and the Red fries box one by one and place on the tray with rounded corners.",
+    "Using dual arms, move the medium, squishy hamburg and the Golden fries sticks in red carton onto the tray with rounded corners.",
+    "Lift the brownish round hamburg, lift the Light yellow fries in red holder, then set both on the tray with rounded corners.",
+    "Use dual arms to grab the soft brown bread hamburg and the Rectangular red carton holding fries and set them on the rectangular green tray.",
+    "Grab the medium, squishy hamburg and the Small red box fries inside and position them on the dark green serving tray.",
+    "Using both arms, set the hamburg with patterned brown surface and the French fries in red packaging onto the dark green rectangular plastic tray.",
+    "Pick the light brown hamburg and the Light yellow fries in red holder, and set them on the plastic tray with curved edges.",
+    "Grab the soft brown bread hamburg, then the Small red box fries inside, and set them on the single-piece dark green tray.",
+    "Grab the medium, squishy hamburg, pick the Golden fries sticks in red carton, then set them on the solid green palm-sized tray",
+    "Using dual arms, lift the round, soft bread hamburg and the Open-top red box filled with fries and drop them on the tray for holding objects.",
+    "Place the round hamburg and the Red fries box on the flat green rectangular tray after picking them up.",
+    "Set the round hamburg and the Bright red box with fries inside down on the tray for serving items after picking them.",
+    "Using both arms, pick the smooth hamburg and the Golden fries crispy red package container and drop them on the dark green serving tray.",
+    "Grab the brownish round hamburg with one arm and the Palm-sized red fries container with the other for the medium plastic tray.",
+    "Transfer the round, soft bread hamburg and the Red fries box to the flat green rectangular tray with both arms",
+    "Place the bread bun hamburg and the Golden fries sticks in red carton together onto the tray for holding objects.",
+    "Move the medium-sized hamburg and the Red fries box with dual arms to the medium plastic tray.",
+    "Use both arms to move the brownish round hamburg and the Handheld fries pack bright red color to the medium plastic tray.",
+    "Move the medium-sized hamburg and the French fries in red packaging to the flat green rectangular tray using both arms.",
+    "Use dual arms to place the soft brown bread hamburg and the Potato fries packaged in red carton onto the rectangular green tray",
+    "Lift the bread bun hamburg and the Handheld fries pack bright red color, placing them neatly on the medium plastic tray."
+  ],
+  "unseen": [
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Place the palm-sized hamburg and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the green tray",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Place the hamburg with light brown top and the Red carton box fries crispy golden onto the green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box together, then drop on the green tray",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the green tray.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the smooth green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Crispy potato fries with red box and set them on the green tray.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the green tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the green tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the green tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the green tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the green tray",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the green tray.",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the smooth green tray.",
+    "Use both arms to grab the hamburg with light brown top and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to place the hamburg with white sides and the Red carton box fries crispy golden on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the smooth green tray.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with white sides and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the green tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the smooth green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the medium green tray for carrying.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the green tray.",
+    "Use both arms to grab the hamburg with white sides and the Crispy potato fries with red box and set them on the medium green tray for carrying.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the green tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the medium green tray for carrying",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box and place them on the green tray.",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the smooth green tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the smooth green tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the green tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001083.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the smooth hamburg and the Open-top red box filled with fries on the rectangular tray after picking them up.",
+    "Grab the medium, squishy hamburg with one arm and the Golden fries sticks in red carton with the other for the tray with slightly raised edges.",
+    "Take the brownish round hamburg, take the Potato fries packaged in red carton, and place them onto the brown tray with rim.",
+    "Pick up the hamburg with uneven top, grab the Light yellow fries in red holder, place them on the smooth plastic tray",
+    "Pick the brownish round hamburg, then the Light yellow fries in red holder, and place them on the rectangular tray.",
+    "Place the smooth hamburg and the Bright red box with fries inside together onto the flat brown tray with raised edges.",
+    "Place the hamburg with patterned brown surface and the Palm-sized red fries container onto the medium-sized dark brown tray after picking them up.",
+    "Take the soft brown bread hamburg and the Golden fries crispy red package container to the rectangular plastic tray and set them there.",
+    "Using both arms, grab the medium, squishy hamburg and the Small red box fries inside for the smooth plastic tray.",
+    "Pick the hamburg with uneven top, the Handheld fries pack bright red color, and place them on the rectangular plastic tray using both arms.",
+    "Set the soft brown bread hamburg and the Small red box fries inside down on the flat tray with smooth surface after picking them.",
+    "Pick up the hamburg with patterned brown surface, then the French fries in red packaging, and place them onto the rectangular tray.",
+    "Using dual arms, move the hamburg with uneven top and the Bright red box with fries inside onto the tray with slightly raised edges.",
+    "Using both arms, pick the brownish round hamburg and the Small red box fries inside and drop them on the smooth plastic tray.",
+    "Grab the smooth hamburg, grab the Open-top red box filled with fries, and set both onto the smooth plastic tray.",
+    "Grab the round, soft bread hamburg and the Palm-sized red fries container, then put them on the smooth plastic tray.",
+    "Set the brownish round hamburg and the Red fries box on the rectangular tray using two arms.",
+    "Transfer the smooth hamburg and the Open-top red box filled with fries to the rectangular plastic tray with both arms",
+    "Use both arms to move the smooth hamburg and the Golden fries sticks in red carton to the brown tray with rim.",
+    "Move the round, soft bread hamburg and the Bright red box with fries inside with dual arms to the medium-sized dark brown tray.",
+    "Grab the round, soft bread hamburg, pick the Golden fries sticks in red carton, then set them on the brown tray with rim",
+    "Grab the medium, squishy hamburg, then the Potato fries packaged in red carton, and set them on the brown tray.",
+    "Take the medium-sized hamburg and the Palm-sized red fries container with both arms and set on the tray with slightly raised edges.",
+    "Lift the round, soft bread hamburg, lift the Golden fries crispy red package container, then set both on the tray for holding things.",
+    "Move the hamburg with patterned brown surface and the Potato fries packaged in red carton to the smooth plastic tray using both arms.",
+    "Move the brownish round hamburg and the Golden fries sticks in red carton to the brown tray with rim with both arms",
+    "Lift the hamburg with patterned brown surface and the Golden fries crispy red package container and position them on the medium dark brown tray.",
+    "Lift the brownish round hamburg and the Potato fries packaged in red carton, placing them neatly on the tray with slightly raised edges.",
+    "Using dual arms, lift the round, soft bread hamburg and the Small red box fries inside and drop them on the flat tray with smooth surface.",
+    "Place both the hamburg with uneven top and the Small red box fries inside on the smooth plastic tray after grabbing them with both arms.",
+    "Grab the brownish round hamburg and the Small red box fries inside, use both arms to set on the flat brown tray with raised edges.",
+    "Use both arms to move the medium-sized hamburg and the Open-top red box filled with fries to the tray with slightly raised edges.",
+    "Take the hamburg with patterned brown surface and the Light yellow fries in red holder, place them onto the medium-sized dark brown tray.",
+    "Use both arms to transfer the medium, squishy hamburg and the Small red box fries inside to the tray with slightly raised edges.",
+    "Pick up the brownish round hamburg and the Light yellow fries in red holder, then put them on the flat brown tray with raised edges",
+    "Grab the brownish round hamburg and the Bright red box with fries inside and position them on the medium dark brown tray.",
+    "Position the brownish round hamburg and the Handheld fries pack bright red color on the smooth plastic tray with both arms.",
+    "Pick the smooth hamburg and the Golden fries sticks in red carton, and set them on the medium dark brown tray.",
+    "Lift the brownish round hamburg and the Handheld fries pack bright red color, position them on the rectangular tray",
+    "With dual arms, move the hamburg with patterned brown surface and the Palm-sized red fries container onto the rectangular plastic tray.",
+    "Using both arms, set the hamburg with white patches and the Golden fries crispy red package container onto the medium-sized dark brown tray.",
+    "Use dual arms to move the hamburg with white patches and the Palm-sized red fries container onto the tray with slightly raised edges",
+    "Use dual arms to place the hamburg with uneven top and the Small red box fries inside onto the tray for holding things",
+    "Put the smooth hamburg and the Open-top red box filled with fries on the medium-sized dark brown tray using both arms",
+    "Pick up the round hamburg and the Light yellow fries in red holder, then put both on the smooth plastic tray.",
+    "With two arms, pick the light brown hamburg and the Potato fries packaged in red carton for the smooth plastic tray.",
+    "Place the light brown hamburg and the Small red box fries inside onto the smooth plastic tray using dual arms",
+    "Pick up the hamburg with uneven top and the Palm-sized red fries container one by one and place on the rectangular tray.",
+    "Move the round hamburg and the Palm-sized red fries container onto the tray with slightly raised edges with both arms.",
+    "Use dual arms to grab the hamburg with uneven top and the Golden fries sticks in red carton and set them on the medium dark brown tray.",
+    "Place the round, soft bread hamburg and the French fries in red packaging on the flat tray with smooth surface after picking them up.",
+    "Grab the soft brown bread hamburg with one arm and the Handheld fries pack bright red color with the other for the brown tray with rim.",
+    "Take the hamburg with uneven top, take the Red fries box, and place them onto the tray for holding things.",
+    "Pick up the smooth hamburg, grab the Light yellow fries in red holder, place them on the tray for holding things",
+    "Pick the bread bun hamburg, then the Small red box fries inside, and place them on the flat tray with smooth surface.",
+    "Place the round hamburg and the Palm-sized red fries container together onto the brown tray.",
+    "Place the light brown hamburg and the Golden fries crispy red package container onto the dark rectangular serving tray after picking them up.",
+    "Take the smooth hamburg and the Golden fries sticks in red carton to the brown tray with rim and set them there.",
+    "Using both arms, grab the medium, squishy hamburg and the Potato fries packaged in red carton for the flat brown tray with raised edges.",
+    "Pick the hamburg with white patches, the Light yellow fries in red holder, and place them on the tray with slightly raised edges using both arms.",
+    "Set the medium, squishy hamburg and the Red fries box down on the medium dark brown tray after picking them.",
+    "Pick up the round, soft bread hamburg, then the Bright red box with fries inside, and place them onto the brown tray.",
+    "Using dual arms, move the hamburg with patterned brown surface and the Small red box fries inside onto the smooth plastic tray.",
+    "Using both arms, pick the hamburg with uneven top and the Light yellow fries in red holder and drop them on the brown tray.",
+    "Grab the round hamburg, grab the Small red box fries inside, and set both onto the brown tray with rim.",
+    "Grab the hamburg with uneven top and the Open-top red box filled with fries, then put them on the rectangular tray.",
+    "Set the round hamburg and the Bright red box with fries inside on the brown tray using two arms.",
+    "Transfer the medium, squishy hamburg and the Potato fries packaged in red carton to the flat tray with smooth surface with both arms",
+    "Use both arms to move the medium, squishy hamburg and the Palm-sized red fries container to the medium-sized dark brown tray.",
+    "Move the hamburg with patterned brown surface and the Golden fries crispy red package container with dual arms to the brown tray.",
+    "Grab the medium, squishy hamburg, pick the Red fries box, then set them on the tray for holding things",
+    "Grab the medium, squishy hamburg, then the Handheld fries pack bright red color, and set them on the flat tray with smooth surface.",
+    "Take the bread bun hamburg and the Golden fries crispy red package container with both arms and set on the rectangular tray.",
+    "Lift the bread bun hamburg, lift the Potato fries packaged in red carton, then set both on the tray for holding things.",
+    "Move the hamburg with white patches and the Handheld fries pack bright red color to the tray with slightly raised edges using both arms.",
+    "Move the round, soft bread hamburg and the Handheld fries pack bright red color to the tray for holding things with both arms",
+    "Lift the medium-sized hamburg and the Potato fries packaged in red carton and position them on the flat brown tray with raised edges.",
+    "Lift the hamburg with patterned brown surface and the Small red box fries inside, placing them neatly on the tray for holding things.",
+    "Using dual arms, lift the light brown hamburg and the Golden fries crispy red package container and drop them on the medium dark brown tray.",
+    "Place both the medium-sized hamburg and the Bright red box with fries inside on the tray for holding things after grabbing them with both arms.",
+    "Grab the round hamburg and the Handheld fries pack bright red color, use both arms to set on the smooth plastic tray.",
+    "Use both arms to move the hamburg with patterned brown surface and the Open-top red box filled with fries to the dark rectangular serving tray.",
+    "Take the brownish round hamburg and the Palm-sized red fries container, place them onto the rectangular tray.",
+    "Use both arms to transfer the round hamburg and the Golden fries crispy red package container to the tray with slightly raised edges.",
+    "Pick up the hamburg with patterned brown surface and the Bright red box with fries inside, then put them on the rectangular plastic tray",
+    "Grab the hamburg with patterned brown surface and the French fries in red packaging and position them on the medium dark brown tray.",
+    "Position the bread bun hamburg and the Small red box fries inside on the rectangular plastic tray with both arms.",
+    "Pick the light brown hamburg and the Palm-sized red fries container, and set them on the rectangular plastic tray.",
+    "Lift the round, soft bread hamburg and the Handheld fries pack bright red color, position them on the tray for holding things",
+    "With dual arms, move the round, soft bread hamburg and the Handheld fries pack bright red color onto the tray with slightly raised edges.",
+    "Using both arms, set the hamburg with white patches and the Golden fries crispy red package container onto the rectangular plastic tray.",
+    "Use dual arms to move the hamburg with patterned brown surface and the Rectangular red carton holding fries onto the flat tray with smooth surface",
+    "Use dual arms to place the light brown hamburg and the Light yellow fries in red holder onto the flat brown tray with raised edges",
+    "Put the hamburg with patterned brown surface and the Handheld fries pack bright red color on the flat brown tray with raised edges using both arms",
+    "Pick up the hamburg with uneven top and the Handheld fries pack bright red color, then put both on the flat tray with smooth surface.",
+    "With two arms, pick the soft brown bread hamburg and the Golden fries sticks in red carton for the flat tray with smooth surface.",
+    "Place the hamburg with white patches and the Light yellow fries in red holder onto the tray with slightly raised edges using dual arms",
+    "Pick up the smooth hamburg and the Handheld fries pack bright red color one by one and place on the brown tray with rim.",
+    "Move the hamburg with white patches and the Rectangular red carton holding fries onto the dark rectangular serving tray with both arms.",
+    "Use dual arms to grab the hamburg with white patches and the Handheld fries pack bright red color and set them on the flat brown tray with raised edges."
+  ],
+  "unseen": [
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the hamburg with white sides and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the medium flat tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the medium flat tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Grab the hamburg with light brown top and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Use both arms to place the hamburg with white sides and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the tray for carrying items.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the medium flat tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Use both arms to place the hamburg with white sides and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Place the palm-sized hamburg and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Use both arms to grab the hamburg with white sides and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the hamburg with white sides and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white sides and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Use both arms to place the hamburg with white sides and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the medium flat tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Use both arms to place the palm-sized hamburg and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Use both arms to grab the hamburg with light brown top and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the medium flat tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg with white sides and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden, then set them on the medium flat tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001086.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, grab the yellow hamburg box and the Open-top red box filled with fries for the medium-sized dark brown tray.",
+    "Pick up the yellow box for hamburg and the Small red box fries inside one by one and place on the rectangular tray.",
+    "Grab the hamburg box with foldable top and the Handheld fries pack bright red color, then put them on the medium-sized dark brown tray.",
+    "Lift the hamburg box with foldable top, lift the Handheld fries pack bright red color, then set both on the tray for holding things.",
+    "Lift the white and yellow printed hamburg holder and the Rectangular red carton holding fries, position them on the flat tray with smooth surface",
+    "Pick the bright yellow hamburg box with logo and the French fries in red packaging, and set them on the brown tray.",
+    "Pick the rectangular hamburg box, then the Palm-sized red fries container, and place them on the tray with slightly raised edges.",
+    "Place the bright yellow hamburg box with logo and the Potato fries packaged in red carton together onto the flat tray with smooth surface.",
+    "Grab the bright yellow hamburg box with logo, pick the Light yellow fries in red holder, then set them on the flat tray with smooth surface",
+    "Put the white and yellow printed hamburg holder and the Potato fries packaged in red carton on the rectangular plastic tray using both arms",
+    "Using dual arms, lift the white and yellow printed hamburg holder and the French fries in red packaging and drop them on the tray with slightly raised edges.",
+    "Using dual arms, move the yellow hamburg box and the Palm-sized red fries container onto the rectangular plastic tray.",
+    "Grab the yellow box for hamburg and the Red fries box and position them on the tray with slightly raised edges.",
+    "Pick up the medium-sized box with hamburg design and the Bright red box with fries inside, then put them on the tray with slightly raised edges",
+    "Take the yellow hamburg box with white accents and the Rectangular red carton holding fries, place them onto the flat brown tray with raised edges.",
+    "Take the rectangular hamburg box and the Bright red box with fries inside with both arms and set on the rectangular plastic tray.",
+    "Place the yellow hamburg box and the Handheld fries pack bright red color on the tray with slightly raised edges after picking them up.",
+    "Pick up the foldable hamburg cardboard box, grab the Light yellow fries in red holder, place them on the smooth plastic tray",
+    "Grab the white lid with yellow bottom hamburg box, then the Red fries box, and set them on the flat brown tray with raised edges.",
+    "Transfer the yellow box for hamburg and the Handheld fries pack bright red color to the flat brown tray with raised edges with both arms",
+    "Set the white lid with yellow bottom hamburg box and the Golden fries sticks in red carton down on the rectangular tray after picking them.",
+    "Use both arms to move the white lid with yellow bottom hamburg box and the Golden fries crispy red package container to the medium-sized dark brown tray.",
+    "Place the white and yellow printed hamburg holder and the Small red box fries inside onto the rectangular tray after picking them up.",
+    "Set the medium-sized box with hamburg design and the French fries in red packaging on the tray with slightly raised edges using two arms.",
+    "Take the medium-sized box with hamburg design and the Golden fries crispy red package container to the rectangular plastic tray and set them there.",
+    "Move the foldable hamburg cardboard box and the Small red box fries inside with dual arms to the brown tray with rim.",
+    "Position the yellow hamburg box and the Golden fries sticks in red carton on the medium-sized dark brown tray with both arms.",
+    "Use both arms to move the yellow hamburg box with white accents and the Small red box fries inside to the flat tray with smooth surface.",
+    "Pick the yellow box for hamburg, the Open-top red box filled with fries, and place them on the dark rectangular serving tray using both arms.",
+    "Use both arms to transfer the hamburg box with foldable top and the Potato fries packaged in red carton to the medium-sized dark brown tray.",
+    "Using both arms, set the medium-sized box with hamburg design and the Red fries box onto the brown tray.",
+    "Pick up the medium-sized box with hamburg design, then the Bright red box with fries inside, and place them onto the flat brown tray with raised edges.",
+    "Lift the hamburg box with foldable top and the Small red box fries inside, placing them neatly on the brown tray with rim.",
+    "Use dual arms to move the medium-sized yellow hamburg package and the Palm-sized red fries container onto the brown tray",
+    "Using both arms, pick the bright yellow hamburg box with logo and the French fries in red packaging and drop them on the tray for holding things.",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the Small red box fries inside for the tray for holding things.",
+    "Move the medium-sized box with hamburg design and the Red fries box to the flat brown tray with raised edges using both arms.",
+    "Move the white lid with yellow bottom hamburg box and the Bright red box with fries inside to the brown tray with rim with both arms",
+    "Take the medium-sized yellow hamburg package, take the Open-top red box filled with fries, and place them onto the smooth plastic tray.",
+    "Grab the rectangular hamburg box with one arm and the Handheld fries pack bright red color with the other for the dark rectangular serving tray.",
+    "Place both the medium-sized box with hamburg design and the Potato fries packaged in red carton on the rectangular tray after grabbing them with both arms.",
+    "Grab the white lid with yellow bottom hamburg box and the Open-top red box filled with fries, use both arms to set on the brown tray with rim.",
+    "Move the hamburg box with foldable top and the Rectangular red carton holding fries onto the medium-sized dark brown tray with both arms.",
+    "Pick up the white lid with yellow bottom hamburg box and the Light yellow fries in red holder, then put both on the tray for holding things.",
+    "Place the yellow hamburg box with white accents and the Light yellow fries in red holder onto the dark rectangular serving tray using dual arms",
+    "With dual arms, move the hamburg box with foldable top and the Golden fries sticks in red carton onto the brown tray with rim.",
+    "Lift the bright yellow hamburg box with logo and the Bright red box with fries inside and position them on the flat brown tray with raised edges.",
+    "Use dual arms to grab the yellow hamburg box with white accents and the Palm-sized red fries container and set them on the medium-sized dark brown tray.",
+    "Grab the white and yellow printed hamburg holder, grab the Small red box fries inside, and set both onto the medium-sized dark brown tray.",
+    "Use dual arms to place the medium-sized yellow hamburg package and the Potato fries packaged in red carton onto the tray for holding things",
+    "Using both arms, grab the yellow hamburg box and the Golden fries sticks in red carton for the rectangular tray.",
+    "Pick up the yellow box for hamburg and the Red fries box one by one and place on the flat tray with smooth surface.",
+    "Grab the foldable hamburg cardboard box and the Light yellow fries in red holder, then put them on the rectangular tray.",
+    "Lift the smooth yellow hamburg packaging, lift the Golden fries crispy red package container, then set both on the rectangular plastic tray.",
+    "Lift the medium-sized yellow hamburg package and the Palm-sized red fries container, position them on the dark rectangular serving tray",
+    "Pick the foldable hamburg cardboard box and the Open-top red box filled with fries, and set them on the smooth plastic tray.",
+    "Pick the rectangular hamburg box, then the Red fries box, and place them on the flat brown tray with raised edges.",
+    "Place the white lid with yellow bottom hamburg box and the Rectangular red carton holding fries together onto the flat tray with smooth surface.",
+    "Grab the yellow hamburg box with white accents, pick the Golden fries sticks in red carton, then set them on the brown tray",
+    "Put the medium-sized box with hamburg design and the Open-top red box filled with fries on the medium-sized dark brown tray using both arms",
+    "Using dual arms, lift the white and yellow printed hamburg holder and the Bright red box with fries inside and drop them on the brown tray.",
+    "Using dual arms, move the rectangular hamburg box and the Small red box fries inside onto the flat brown tray with raised edges.",
+    "Grab the medium-sized yellow hamburg package and the Open-top red box filled with fries and position them on the dark rectangular serving tray.",
+    "Pick up the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton, then put them on the tray with slightly raised edges",
+    "Take the bright yellow hamburg box with logo and the Red fries box, place them onto the tray with slightly raised edges.",
+    "Take the medium-sized yellow hamburg package and the Red fries box with both arms and set on the medium dark brown tray.",
+    "Place the foldable hamburg cardboard box and the Potato fries packaged in red carton on the tray for holding things after picking them up.",
+    "Pick up the yellow hamburg box with white accents, grab the Potato fries packaged in red carton, place them on the tray for holding things",
+    "Grab the rectangular hamburg box, then the Red fries box, and set them on the medium dark brown tray.",
+    "Transfer the yellow box for hamburg and the French fries in red packaging to the dark rectangular serving tray with both arms",
+    "Set the medium-sized yellow hamburg package and the French fries in red packaging down on the smooth plastic tray after picking them.",
+    "Use both arms to move the yellow box for hamburg and the Small red box fries inside to the flat tray with smooth surface.",
+    "Place the hamburg box with foldable top and the Handheld fries pack bright red color onto the flat tray with smooth surface after picking them up.",
+    "Set the white and yellow printed hamburg holder and the Golden fries crispy red package container on the medium-sized dark brown tray using two arms.",
+    "Take the yellow hamburg box with white accents and the Small red box fries inside to the tray for holding things and set them there.",
+    "Move the bright yellow hamburg box with logo and the Handheld fries pack bright red color with dual arms to the rectangular plastic tray.",
+    "Position the yellow hamburg box with white accents and the Golden fries crispy red package container on the rectangular tray with both arms.",
+    "Use both arms to move the medium-sized yellow hamburg package and the Red fries box to the tray for holding things.",
+    "Pick the rectangular hamburg box, the Handheld fries pack bright red color, and place them on the medium dark brown tray using both arms.",
+    "Use both arms to transfer the hamburg box with foldable top and the Rectangular red carton holding fries to the flat tray with smooth surface.",
+    "Using both arms, set the foldable hamburg cardboard box and the Potato fries packaged in red carton onto the flat tray with smooth surface.",
+    "Pick up the medium-sized box with hamburg design, then the Rectangular red carton holding fries, and place them onto the medium dark brown tray.",
+    "Lift the foldable hamburg cardboard box and the Bright red box with fries inside, placing them neatly on the smooth plastic tray.",
+    "Use dual arms to move the foldable hamburg cardboard box and the Golden fries sticks in red carton onto the dark rectangular serving tray",
+    "Using both arms, pick the bright yellow hamburg box with logo and the Rectangular red carton holding fries and drop them on the brown tray with rim.",
+    "With two arms, pick the white and yellow printed hamburg holder and the Handheld fries pack bright red color for the dark rectangular serving tray.",
+    "Move the white and yellow printed hamburg holder and the Small red box fries inside to the brown tray with rim using both arms.",
+    "Move the white and yellow printed hamburg holder and the French fries in red packaging to the flat brown tray with raised edges with both arms",
+    "Take the bright yellow hamburg box with logo, take the Rectangular red carton holding fries, and place them onto the brown tray with rim.",
+    "Grab the foldable hamburg cardboard box with one arm and the Small red box fries inside with the other for the medium dark brown tray.",
+    "Place both the yellow hamburg box with white accents and the Open-top red box filled with fries on the tray for holding things after grabbing them with both arms.",
+    "Grab the yellow box for hamburg and the Open-top red box filled with fries, use both arms to set on the medium-sized dark brown tray.",
+    "Move the white lid with yellow bottom hamburg box and the Handheld fries pack bright red color onto the medium dark brown tray with both arms.",
+    "Pick up the medium-sized box with hamburg design and the Bright red box with fries inside, then put both on the medium-sized dark brown tray.",
+    "Place the medium-sized yellow hamburg package and the French fries in red packaging onto the brown tray using dual arms",
+    "With dual arms, move the foldable hamburg cardboard box and the Golden fries sticks in red carton onto the dark rectangular serving tray.",
+    "Lift the white lid with yellow bottom hamburg box and the Red fries box and position them on the flat brown tray with raised edges.",
+    "Use dual arms to grab the bright yellow hamburg box with logo and the Potato fries packaged in red carton and set them on the brown tray.",
+    "Grab the bright yellow hamburg box with logo, grab the Potato fries packaged in red carton, and set both onto the tray with slightly raised edges.",
+    "Use dual arms to place the hamburg box with foldable top and the Open-top red box filled with fries onto the dark rectangular serving tray"
+  ],
+  "unseen": [
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the tray for carrying items",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the medium flat tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the medium flat tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001089.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, pick the rectangular hamburg box and the red container with yellow fries and drop them on the smooth glossy orange medium tray.",
+    "Set the yellow hamburg box with white accents and the red container with yellow fries down on the orange tray after picking them.",
+    "Grab the yellow hamburg box with white accents, grab the small red fries packet, and set both onto the orange tray.",
+    "Pick up the foldable hamburg cardboard box, grab the bright red fries holder, place them on the rectangular tray",
+    "Use both arms to move the medium-sized box with hamburg design and the golden fries in red packaging to the bright orange rectangular tray.",
+    "Use both arms to transfer the foldable hamburg cardboard box and the bright red fries holder to the smooth glossy orange medium tray.",
+    "Pick the medium-sized box with hamburg design, then the golden fries in smooth red pouch, and place them on the orange tray.",
+    "Take the medium-sized box with hamburg design, take the red fries packet, and place them onto the smooth glossy orange medium tray.",
+    "Set the white and yellow printed hamburg holder and the McDonald's fries bag on the medium bright orange tray using two arms.",
+    "Move the white and yellow printed hamburg holder and the crispy fries in hand-sized pouch with dual arms to the orange tray with smooth surface.",
+    "Place the bright yellow hamburg box with logo and the red container with yellow fries together onto the bright orange tray for serving.",
+    "Using both arms, grab the smooth yellow hamburg packaging and the crispy fries in hand-sized pouch for the medium bright orange tray.",
+    "Move the yellow hamburg box with white accents and the rectangular red fries packet onto the medium bright orange tray with both arms.",
+    "Pick the yellow box for hamburg, the rectangular red fries packet, and place them on the orange tray with smooth surface using both arms.",
+    "Grab the medium-sized yellow hamburg package and the red box with golden sticks and position them on the smooth plastic tray.",
+    "Use both arms to move the yellow hamburg box with white accents and the golden fries in red packaging to the medium-sized plastic tray.",
+    "Lift the rectangular hamburg box, lift the golden fries in smooth red pouch, then set both on the orange tray with smooth surface.",
+    "Use dual arms to grab the yellow box for hamburg and the bright red fries holder and set them on the smooth glossy orange medium tray.",
+    "Using dual arms, move the white and yellow printed hamburg holder and the red container with yellow fries onto the bright orange rectangular tray.",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the red container with yellow fries for the medium bright orange tray.",
+    "Move the medium-sized box with hamburg design and the golden fries in red packaging to the smooth plastic tray with both arms",
+    "Pick up the white lid with yellow bottom hamburg box and the red fries packet, then put both on the smooth glossy orange medium tray.",
+    "Place the medium-sized box with hamburg design and the small red fries packet on the medium-sized plastic tray after picking them up.",
+    "Grab the yellow hamburg box, then the golden fries in red packaging, and set them on the orange tray with smooth surface.",
+    "Place the medium-sized yellow hamburg package and the bright red fries holder onto the bright orange tray for serving using dual arms",
+    "Pick the smooth yellow hamburg packaging and the rectangular red fries packet, and set them on the bright orange tray for serving.",
+    "Take the rectangular hamburg box and the bright red fries holder with both arms and set on the bright orange tray with glossy finish.",
+    "Move the medium-sized box with hamburg design and the crispy fries in hand-sized pouch to the medium bright orange tray using both arms.",
+    "Transfer the foldable hamburg cardboard box and the small red fries packet to the plastic tray for holding items with both arms",
+    "Place both the yellow box for hamburg and the crispy fries in hand-sized pouch on the medium bright orange tray after grabbing them with both arms.",
+    "Use dual arms to place the yellow hamburg box and the crispy fries in hand-sized pouch onto the plastic tray for holding items",
+    "Using both arms, set the hamburg box with foldable top and the thin crispy potato fries onto the plastic tray with shiny texture.",
+    "Pick up the white and yellow printed hamburg holder and the red fries packet one by one and place on the bright orange tray for serving.",
+    "Take the rectangular hamburg box and the red box with golden sticks, place them onto the bright orange tray for serving.",
+    "Take the white lid with yellow bottom hamburg box and the red box with golden sticks to the smooth plastic tray and set them there.",
+    "Position the foldable hamburg cardboard box and the crispy fries in hand-sized pouch on the plastic tray with shiny texture with both arms.",
+    "Put the smooth yellow hamburg packaging and the golden fries in red packaging on the rectangular tray using both arms",
+    "Grab the yellow hamburg box with white accents with one arm and the bright red fries holder with the other for the orange tray.",
+    "Grab the smooth yellow hamburg packaging, pick the red container with yellow fries, then set them on the smooth plastic tray",
+    "Using dual arms, lift the white lid with yellow bottom hamburg box and the thin crispy potato fries and drop them on the bright orange rectangular tray.",
+    "Pick up the smooth yellow hamburg packaging and the rectangular red fries packet, then put them on the rectangular tray",
+    "Grab the smooth yellow hamburg packaging and the crispy fries in hand-sized pouch, use both arms to set on the plastic tray for holding items.",
+    "With dual arms, move the medium-sized yellow hamburg package and the bright red fries holder onto the rectangular tray.",
+    "Lift the smooth yellow hamburg packaging and the McDonald's logo on red fries box, position them on the smooth plastic tray",
+    "Use dual arms to move the white and yellow printed hamburg holder and the bright red fries holder onto the bright orange rectangular tray",
+    "Grab the foldable hamburg cardboard box and the small red fries packet, then put them on the smooth glossy orange medium tray.",
+    "Pick up the yellow hamburg box, then the bright red fries holder, and place them onto the rectangular tray.",
+    "Lift the white lid with yellow bottom hamburg box and the red container with yellow fries, placing them neatly on the medium-sized plastic tray.",
+    "Place the bright yellow hamburg box with logo and the crispy fries in hand-sized pouch onto the medium-sized plastic tray after picking them up.",
+    "Lift the smooth yellow hamburg packaging and the McDonald's fries bag and position them on the medium-sized plastic tray.",
+    "Using both arms, pick the foldable hamburg cardboard box and the red fries packet and drop them on the orange tray.",
+    "Set the white and yellow printed hamburg holder and the golden fries in smooth red pouch down on the bright orange tray with glossy finish after picking them.",
+    "Grab the white and yellow printed hamburg holder, grab the McDonald's logo on red fries box, and set both onto the orange tray with smooth surface.",
+    "Pick up the hamburg box with foldable top, grab the golden fries in smooth red pouch, place them on the smooth plastic tray",
+    "Use both arms to move the smooth yellow hamburg packaging and the red box with golden sticks to the orange tray.",
+    "Use both arms to transfer the yellow box for hamburg and the McDonald's fries bag to the smooth glossy orange medium tray.",
+    "Pick the hamburg box with foldable top, then the golden fries in red packaging, and place them on the bright orange rectangular tray.",
+    "Take the foldable hamburg cardboard box, take the rectangular red fries packet, and place them onto the orange tray.",
+    "Set the yellow box for hamburg and the McDonald's fries bag on the plastic tray for holding items using two arms.",
+    "Move the hamburg box with foldable top and the golden fries in red packaging with dual arms to the rectangular tray.",
+    "Place the yellow hamburg box with white accents and the golden fries in smooth red pouch together onto the smooth glossy orange medium tray.",
+    "Using both arms, grab the white and yellow printed hamburg holder and the golden fries in red packaging for the smooth glossy orange medium tray.",
+    "Move the bright yellow hamburg box with logo and the McDonald's logo on red fries box onto the bright orange tray for serving with both arms.",
+    "Pick the yellow box for hamburg, the thin crispy potato fries, and place them on the medium-sized plastic tray using both arms.",
+    "Grab the yellow hamburg box with white accents and the golden fries in red packaging and position them on the smooth plastic tray.",
+    "Use both arms to move the white and yellow printed hamburg holder and the rectangular red fries packet to the smooth glossy orange medium tray.",
+    "Lift the white and yellow printed hamburg holder, lift the thin crispy potato fries, then set both on the bright orange tray for serving.",
+    "Use dual arms to grab the foldable hamburg cardboard box and the red container with yellow fries and set them on the bright orange tray for serving.",
+    "Using dual arms, move the bright yellow hamburg box with logo and the rectangular red fries packet onto the bright orange tray for serving.",
+    "With two arms, pick the white and yellow printed hamburg holder and the small red fries packet for the smooth plastic tray.",
+    "Move the medium-sized yellow hamburg package and the golden fries in red packaging to the bright orange rectangular tray with both arms",
+    "Pick up the medium-sized yellow hamburg package and the crispy fries in hand-sized pouch, then put both on the orange tray with smooth surface.",
+    "Place the yellow box for hamburg and the crispy fries in hand-sized pouch on the medium bright orange tray after picking them up.",
+    "Grab the rectangular hamburg box, then the red container with yellow fries, and set them on the medium bright orange tray.",
+    "Place the hamburg box with foldable top and the golden fries in red packaging onto the orange tray using dual arms",
+    "Pick the hamburg box with foldable top and the rectangular red fries packet, and set them on the orange tray with smooth surface.",
+    "Take the rectangular hamburg box and the McDonald's fries bag with both arms and set on the rectangular tray.",
+    "Move the bright yellow hamburg box with logo and the crispy fries in hand-sized pouch to the smooth glossy orange medium tray using both arms.",
+    "Transfer the yellow box for hamburg and the golden fries in smooth red pouch to the smooth glossy orange medium tray with both arms",
+    "Place both the white lid with yellow bottom hamburg box and the golden fries in red packaging on the smooth glossy orange medium tray after grabbing them with both arms.",
+    "Use dual arms to place the hamburg box with foldable top and the crispy fries in hand-sized pouch onto the orange tray with smooth surface",
+    "Using both arms, set the white and yellow printed hamburg holder and the small red fries packet onto the plastic tray for holding items.",
+    "Pick up the white and yellow printed hamburg holder and the crispy fries in hand-sized pouch one by one and place on the bright orange tray with glossy finish.",
+    "Take the yellow hamburg box with white accents and the McDonald's logo on red fries box, place them onto the orange tray with smooth surface.",
+    "Take the hamburg box with foldable top and the red container with yellow fries to the smooth glossy orange medium tray and set them there.",
+    "Position the medium-sized yellow hamburg package and the golden fries in red packaging on the bright orange tray with glossy finish with both arms.",
+    "Put the white and yellow printed hamburg holder and the thin crispy potato fries on the bright orange rectangular tray using both arms",
+    "Grab the medium-sized box with hamburg design with one arm and the small red fries packet with the other for the bright orange tray for serving.",
+    "Grab the yellow hamburg box, pick the small red fries packet, then set them on the bright orange tray with glossy finish",
+    "Using dual arms, lift the bright yellow hamburg box with logo and the rectangular red fries packet and drop them on the smooth glossy orange medium tray.",
+    "Pick up the yellow hamburg box with white accents and the crispy fries in hand-sized pouch, then put them on the bright orange tray for serving",
+    "Grab the yellow hamburg box with white accents and the red fries packet, use both arms to set on the orange tray.",
+    "With dual arms, move the smooth yellow hamburg packaging and the thin crispy potato fries onto the bright orange tray for serving.",
+    "Lift the yellow hamburg box with white accents and the rectangular red fries packet, position them on the smooth glossy orange medium tray",
+    "Use dual arms to move the foldable hamburg cardboard box and the small red fries packet onto the smooth plastic tray",
+    "Grab the smooth yellow hamburg packaging and the red box with golden sticks, then put them on the bright orange tray for serving.",
+    "Pick up the medium-sized yellow hamburg package, then the crispy fries in hand-sized pouch, and place them onto the orange tray with smooth surface.",
+    "Lift the white and yellow printed hamburg holder and the small red fries packet, placing them neatly on the plastic tray with shiny texture.",
+    "Place the yellow hamburg box and the rectangular red fries packet onto the plastic tray for holding items after picking them up.",
+    "Lift the smooth yellow hamburg packaging and the bright red fries holder and position them on the medium-sized plastic tray."
+  ],
+  "unseen": [
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the medium-sized tray with rounded corners",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container, then place on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Use both arms to grab the cardboard hamburg container and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the hand-sized fries container on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder, then set them on the rectangular bright orange serving tray",
+    "Pick the rectangular cardboard box for hamburg and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Place the cardboard hamburg container and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box and place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the medium-sized tray with rounded corners.",
+    "Grab the rectangular cardboard box for hamburg and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Pick the hamburg pack with printed details and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the hamburg pack with printed details and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Place the hamburg pack with printed details and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Use both arms to grab the hamburg pack with printed details and the golden crispy fries inside red box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the hand-sized fries container, then set them on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder together, then drop on the medium-sized tray with rounded corners",
+    "Place the rectangular cardboard box for hamburg and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg container and the golden fries in red holder and set them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container and place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the golden crispy fries inside red box together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg container and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Grab the hamburg pack with printed details and the golden fries in red holder, then set them on the medium-sized tray with rounded corners",
+    "Pick the cardboard hamburg container and the hand-sized fries container, then place them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg container and the golden fries in red holder, place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the rectangular tray with rounded edges.",
+    "Use both arms to grab the hamburg pack with printed details and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg container and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the golden fries in red holder on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Pick the hamburg pack with printed details and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick the rectangular cardboard box for hamburg and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Place the rectangular cardboard box for hamburg and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the rectangular cardboard box for hamburg and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Grab the rectangular cardboard box for hamburg and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Pick the cardboard hamburg container and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick the hamburg pack with printed details and the golden fries in red holder, place them on the medium-sized tray with rounded corners.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Place the cardboard hamburg container and the hand-sized fries container onto the medium-sized tray with rounded corners.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg container and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Grab the hamburg pack with printed details and the golden crispy fries inside red box together, setting them on the rectangular tray with rounded edges.",
+    "Use both arms to place the cardboard hamburg container and the hand-sized fries container on the medium-sized tray with rounded corners.",
+    "Grab the hamburg pack with printed details and the hand-sized fries container, then set them on the rectangular bright orange serving tray",
+    "Pick the cardboard hamburg container and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the golden crispy fries inside red box, place them on the rectangular bright orange serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Place the hamburg pack with printed details and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the hand-sized fries container and set them on the rectangular tray with rounded edges.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Pick up the hamburg pack with printed details and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg container and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg container and the golden crispy fries inside red box on the rectangular bright orange serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001090.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hamburg box with lid and the McDonald's fries bag, placing them neatly on the tray for holding things.",
+    "Move the rectangular hamburg container with smooth finish and the rectangular red fries packet to the medium-sized dark brown tray with both arms",
+    "Set the easy-to-carry hamburg box and the golden fries in red packaging on the tray with slightly raised edges using two arms.",
+    "Place both the rectangular hamburg box and the crispy fries in hand-sized pouch on the tray with slightly raised edges after grabbing them with both arms.",
+    "Transfer the yellow bottom hamburg box and the red container with yellow fries to the rectangular tray with both arms",
+    "Move the hamburg box with lid and the red fries packet onto the tray for holding things with both arms.",
+    "Take the yellow bottom hamburg box and the golden fries in smooth red pouch to the tray for holding things and set them there.",
+    "Pick up the green top hamburg box and the bright red fries holder, then put both on the rectangular plastic tray.",
+    "Pick up the yellow bottom hamburg box and the golden fries in red packaging, then put them on the dark rectangular serving tray",
+    "Pick the green top hamburg box, then the red fries packet, and place them on the dark rectangular serving tray.",
+    "Use both arms to move the smooth hamburg box and the rectangular red fries packet to the brown tray with rim.",
+    "Move the green and yellow hamburg container and the rectangular red fries packet to the tray for holding things using both arms.",
+    "Use both arms to transfer the rectangular hamburg container with smooth finish and the red container with yellow fries to the smooth plastic tray.",
+    "Use both arms to move the hamburg box with lid and the McDonald's fries bag to the flat tray with smooth surface.",
+    "Grab the yellow bottom hamburg box and the golden fries in smooth red pouch and position them on the flat brown tray with raised edges.",
+    "Take the easy-to-carry hamburg box and the McDonald's logo on red fries box, place them onto the rectangular plastic tray.",
+    "Place the small hamburg box and the thin crispy potato fries onto the medium-sized dark brown tray using dual arms",
+    "Position the box with green hamburg lid and the bright red fries holder on the flat brown tray with raised edges with both arms.",
+    "Take the green top hamburg box and the crispy fries in hand-sized pouch with both arms and set on the rectangular plastic tray.",
+    "Using both arms, grab the hamburg box with lid and the bright red fries holder for the flat tray with smooth surface.",
+    "Lift the rectangular hamburg container with smooth finish, lift the red fries packet, then set both on the rectangular tray.",
+    "Using dual arms, move the easy-to-carry hamburg box and the McDonald's fries bag onto the rectangular tray.",
+    "Grab the small hamburg box, then the rectangular red fries packet, and set them on the medium dark brown tray.",
+    "Take the box with green hamburg lid, take the bright red fries holder, and place them onto the tray for holding things.",
+    "Pick up the yellow and green hamburg holder and the red fries packet one by one and place on the smooth plastic tray.",
+    "Lift the yellow bottom hamburg box and the red container with yellow fries, position them on the smooth plastic tray",
+    "Pick up the yellow bottom hamburg box, then the golden fries in red packaging, and place them onto the smooth plastic tray.",
+    "Grab the rectangular hamburg container with smooth finish, pick the rectangular red fries packet, then set them on the flat tray with smooth surface",
+    "Place the green top hamburg box and the rectangular red fries packet together onto the brown tray with rim.",
+    "Grab the hamburg box with lid and the small red fries packet, use both arms to set on the dark rectangular serving tray.",
+    "Pick the smooth hamburg box and the golden fries in smooth red pouch, and set them on the tray for holding things.",
+    "Move the easy-to-carry hamburg box and the bright red fries holder with dual arms to the rectangular tray.",
+    "Place the yellow and green hamburg holder and the red container with yellow fries onto the brown tray with rim after picking them up.",
+    "With two arms, pick the small hamburg box and the red container with yellow fries for the rectangular tray.",
+    "Pick the box with green hamburg lid, the bright red fries holder, and place them on the rectangular plastic tray using both arms.",
+    "Using dual arms, lift the yellow bottom hamburg box and the golden fries in red packaging and drop them on the medium-sized dark brown tray.",
+    "Grab the yellow bottom hamburg box and the bright red fries holder, then put them on the rectangular plastic tray.",
+    "Put the green and yellow hamburg container and the McDonald's fries bag on the flat brown tray with raised edges using both arms",
+    "Use dual arms to place the rectangular hamburg box and the small red fries packet onto the tray with slightly raised edges",
+    "Pick up the hamburg box with lid, grab the McDonald's logo on red fries box, place them on the brown tray",
+    "Use dual arms to move the yellow bottom hamburg box and the crispy fries in hand-sized pouch onto the smooth plastic tray",
+    "Place the rectangular hamburg container with smooth finish and the McDonald's fries bag on the flat tray with smooth surface after picking them up.",
+    "Set the yellow bottom hamburg box and the thin crispy potato fries down on the medium-sized dark brown tray after picking them.",
+    "Use dual arms to grab the yellow bottom hamburg box and the McDonald's logo on red fries box and set them on the tray with slightly raised edges.",
+    "Using both arms, pick the hamburg box with lid and the crispy fries in hand-sized pouch and drop them on the flat brown tray with raised edges.",
+    "Grab the easy-to-carry hamburg box, grab the red container with yellow fries, and set both onto the brown tray.",
+    "Grab the green top hamburg box with one arm and the McDonald's logo on red fries box with the other for the medium dark brown tray.",
+    "Using both arms, set the box with green hamburg lid and the McDonald's logo on red fries box onto the rectangular tray.",
+    "Lift the hamburg box with lid and the rectangular red fries packet and position them on the rectangular plastic tray.",
+    "With dual arms, move the green top hamburg box and the rectangular red fries packet onto the rectangular tray.",
+    "Lift the green and yellow hamburg container and the crispy fries in hand-sized pouch, placing them neatly on the flat tray with smooth surface.",
+    "Move the green and yellow hamburg container and the McDonald's logo on red fries box to the brown tray with both arms",
+    "Set the rectangular hamburg container with smooth finish and the red fries packet on the flat tray with smooth surface using two arms.",
+    "Place both the rectangular hamburg container with smooth finish and the golden fries in red packaging on the smooth plastic tray after grabbing them with both arms.",
+    "Transfer the green top hamburg box and the red box with golden sticks to the tray with slightly raised edges with both arms",
+    "Move the box with green hamburg lid and the red fries packet onto the flat tray with smooth surface with both arms.",
+    "Take the hamburg box with rounded edges and the crispy fries in hand-sized pouch to the brown tray with rim and set them there.",
+    "Pick up the hamburg box with rounded edges and the small red fries packet, then put both on the brown tray with rim.",
+    "Pick up the hamburg box with lid and the crispy fries in hand-sized pouch, then put them on the brown tray",
+    "Pick the green top hamburg box, then the McDonald's fries bag, and place them on the dark rectangular serving tray.",
+    "Use both arms to move the box with green hamburg lid and the McDonald's logo on red fries box to the brown tray.",
+    "Move the yellow and green hamburg holder and the red container with yellow fries to the tray for holding things using both arms.",
+    "Use both arms to transfer the rectangular hamburg box and the crispy fries in hand-sized pouch to the flat brown tray with raised edges.",
+    "Use both arms to move the easy-to-carry hamburg box and the golden fries in smooth red pouch to the brown tray.",
+    "Grab the green and yellow hamburg container and the golden fries in red packaging and position them on the medium-sized dark brown tray.",
+    "Take the hamburg box with rounded edges and the thin crispy potato fries, place them onto the tray with slightly raised edges.",
+    "Place the smooth hamburg box and the McDonald's fries bag onto the medium dark brown tray using dual arms",
+    "Position the hamburg box with lid and the red box with golden sticks on the tray for holding things with both arms.",
+    "Take the green and yellow hamburg container and the red container with yellow fries with both arms and set on the flat tray with smooth surface.",
+    "Using both arms, grab the smooth hamburg box and the golden fries in smooth red pouch for the smooth plastic tray.",
+    "Lift the green and yellow hamburg container, lift the red fries packet, then set both on the rectangular plastic tray.",
+    "Using dual arms, move the green top hamburg box and the small red fries packet onto the medium dark brown tray.",
+    "Grab the box with green hamburg lid, then the red container with yellow fries, and set them on the brown tray with rim.",
+    "Take the small hamburg box, take the red fries packet, and place them onto the rectangular plastic tray.",
+    "Pick up the easy-to-carry hamburg box and the red container with yellow fries one by one and place on the flat brown tray with raised edges.",
+    "Lift the easy-to-carry hamburg box and the McDonald's fries bag, position them on the rectangular tray",
+    "Pick up the smooth hamburg box, then the crispy fries in hand-sized pouch, and place them onto the flat brown tray with raised edges.",
+    "Grab the rectangular hamburg container with smooth finish, pick the thin crispy potato fries, then set them on the rectangular tray",
+    "Place the smooth hamburg box and the crispy fries in hand-sized pouch together onto the brown tray with rim.",
+    "Grab the yellow bottom hamburg box and the bright red fries holder, use both arms to set on the tray with slightly raised edges.",
+    "Pick the green top hamburg box and the crispy fries in hand-sized pouch, and set them on the rectangular tray.",
+    "Move the small hamburg box and the bright red fries holder with dual arms to the flat tray with smooth surface.",
+    "Place the box with green hamburg lid and the golden fries in smooth red pouch onto the flat brown tray with raised edges after picking them up.",
+    "With two arms, pick the hamburg box with lid and the McDonald's logo on red fries box for the tray for holding things.",
+    "Pick the green and yellow hamburg container, the red box with golden sticks, and place them on the smooth plastic tray using both arms.",
+    "Using dual arms, lift the rectangular hamburg box and the red box with golden sticks and drop them on the dark rectangular serving tray.",
+    "Grab the rectangular hamburg container with smooth finish and the McDonald's logo on red fries box, then put them on the flat brown tray with raised edges.",
+    "Put the green and yellow hamburg container and the golden fries in smooth red pouch on the medium-sized dark brown tray using both arms",
+    "Use dual arms to place the rectangular hamburg container with smooth finish and the red box with golden sticks onto the medium dark brown tray",
+    "Pick up the rectangular hamburg container with smooth finish, grab the thin crispy potato fries, place them on the flat brown tray with raised edges",
+    "Use dual arms to move the easy-to-carry hamburg box and the red container with yellow fries onto the dark rectangular serving tray",
+    "Place the green and yellow hamburg container and the McDonald's fries bag on the brown tray after picking them up.",
+    "Set the green and yellow hamburg container and the crispy fries in hand-sized pouch down on the rectangular tray after picking them.",
+    "Use dual arms to grab the rectangular hamburg box and the red container with yellow fries and set them on the flat brown tray with raised edges.",
+    "Using both arms, pick the yellow and green hamburg holder and the red fries packet and drop them on the dark rectangular serving tray.",
+    "Grab the smooth hamburg box, grab the crispy fries in hand-sized pouch, and set both onto the brown tray with rim.",
+    "Grab the green and yellow hamburg container with one arm and the red container with yellow fries with the other for the tray for holding things.",
+    "Using both arms, set the green top hamburg box and the bright red fries holder onto the flat tray with smooth surface.",
+    "Lift the hamburg box with lid and the McDonald's fries bag and position them on the rectangular plastic tray.",
+    "With dual arms, move the smooth hamburg box and the McDonald's logo on red fries box onto the dark rectangular serving tray."
+  ],
+  "unseen": [
+    "Place the cardboard hamburg box and the golden fries in red holder onto the flat brown serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the medium flat tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the medium flat tray.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the tray for carrying items.",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the medium flat tray.",
+    "Place the compact hamburg box and the hand-sized fries container onto the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Pick the stackable hamburg box and the golden fries in red holder, then place them on the medium flat tray.",
+    "Place the cardboard hamburg box and the golden crispy fries inside red box onto the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the tray for carrying items",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, then place them on the medium flat tray.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the medium flat tray.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the tray for carrying items",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the flat brown serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the golden crispy fries inside red box and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the medium flat tray",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the medium flat tray.",
+    "Place the cardboard hamburg box and the golden crispy fries inside red box onto the medium flat tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the flat brown serving tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the flat brown serving tray",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the medium flat tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the medium flat tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the medium flat tray.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the tray for carrying items",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the medium flat tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the tray for carrying items.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the tray for carrying items.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the medium flat tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the medium flat tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder together, then drop on the tray for carrying items",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the tray for carrying items.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the tray for carrying items.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the medium flat tray",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the tray for carrying items.",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the medium flat tray",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the flat brown serving tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the tray for carrying items.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the medium flat tray",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the tray for carrying items.",
+    "Use both arms to place the stackable hamburg box and the golden fries in red holder on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the tray for carrying items",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the tray for carrying items.",
+    "Place the cardboard hamburg box and the golden crispy fries inside red box onto the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the tray for carrying items.",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the tray for carrying items.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium flat tray.",
+    "Use both arms to place the cardboard hamburg box and the golden fries in red holder on the flat brown serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the medium flat tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001097.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Transfer the yellow marked white and orange hamburg and the Bright red box with fries inside to the tray for holding objects with both arms",
+    "Place the rounded hamburg with painted details and the Palm-sized red fries container together onto the tray with rounded corners.",
+    "Position the smooth orange and white hamburg and the Golden fries sticks in red carton on the dark green serving tray with both arms.",
+    "Take the smooth orange and white hamburg and the Handheld fries pack bright red color to the tray for holding objects and set them there.",
+    "Pick up the yellow marked white and orange hamburg and the Palm-sized red fries container one by one and place on the single-piece dark green tray.",
+    "Move the decorative rounded hamburg and the Red fries box to the tray for serving items with both arms",
+    "Place the orange hamburg with white underside and the Rectangular red carton holding fries onto the rectangular green tray using dual arms",
+    "Grab the orange-white hamburg with yellow highlight with one arm and the Handheld fries pack bright red color with the other for the tray for holding objects.",
+    "Lift the irregular shaped hamburg, lift the Small red box fries inside, then set both on the plastic tray with curved edges.",
+    "Pick the rounded hamburg with painted details, then the Rectangular red carton holding fries, and place them on the rectangular green tray.",
+    "With dual arms, move the irregular shaped hamburg and the Open-top red box filled with fries onto the solid green palm-sized tray.",
+    "Use both arms to move the decorative rounded hamburg and the Palm-sized red fries container to the medium plastic tray.",
+    "Place the white part with orange edges hamburg and the Handheld fries pack bright red color on the dark green rectangular plastic tray after picking them up.",
+    "Pick the smooth orange and white hamburg and the Golden fries sticks in red carton, and set them on the dark green rectangular plastic tray.",
+    "Using dual arms, move the white part with orange edges hamburg and the Bright red box with fries inside onto the plastic tray with curved edges.",
+    "Use dual arms to move the orange hamburg with white underside and the Bright red box with fries inside onto the dark green serving tray",
+    "Lift the orange-white hamburg with yellow highlight and the Red fries box, position them on the dark green rectangular plastic tray",
+    "Take the smooth orange and white hamburg, take the Potato fries packaged in red carton, and place them onto the smooth texture green tray.",
+    "Place the small rounded hamburg and the Palm-sized red fries container onto the tray with rounded corners after picking them up.",
+    "Use dual arms to place the yellow marked white and orange hamburg and the Handheld fries pack bright red color onto the dark green serving tray",
+    "Use dual arms to grab the orange hamburg with white underside and the French fries in red packaging and set them on the tray for holding objects.",
+    "Pick up the orange-white hamburg with yellow highlight, then the Open-top red box filled with fries, and place them onto the rectangular green tray.",
+    "Move the decorative rounded hamburg and the Palm-sized red fries container to the rectangular green tray using both arms.",
+    "Grab the hand-sized orange hamburg and the Palm-sized red fries container and position them on the dark green serving tray.",
+    "Set the orange hamburg with white underside and the French fries in red packaging down on the medium plastic tray after picking them.",
+    "Take the orange hamburg with white underside and the Red fries box, place them onto the tray for serving items.",
+    "Using dual arms, lift the decorative rounded hamburg and the Light yellow fries in red holder and drop them on the dark green rectangular plastic tray.",
+    "With two arms, pick the rounded hamburg with painted details and the Light yellow fries in red holder for the plastic tray with curved edges.",
+    "Grab the orange-white hamburg with yellow highlight and the Handheld fries pack bright red color, then put them on the dark green rectangular plastic tray.",
+    "Place both the orange hamburg with white underside and the Rectangular red carton holding fries on the dark green serving tray after grabbing them with both arms.",
+    "Pick up the hand-sized orange hamburg, grab the Red fries box, place them on the dark green serving tray",
+    "Grab the orange-white hamburg with yellow highlight, grab the Red fries box, and set both onto the single-piece dark green tray.",
+    "Use both arms to transfer the decorative rounded hamburg and the Golden fries sticks in red carton to the dark green serving tray.",
+    "Grab the orange hamburg with white underside, pick the Golden fries sticks in red carton, then set them on the dark green serving tray",
+    "Move the smooth orange and white hamburg and the Small red box fries inside onto the dark green serving tray with both arms.",
+    "Pick the rounded hamburg with painted details, the Golden fries crispy red package container, and place them on the tray for holding objects using both arms.",
+    "Pick up the hand-sized orange hamburg and the Rectangular red carton holding fries, then put them on the rectangular green tray",
+    "Using both arms, grab the hand-sized orange hamburg and the Potato fries packaged in red carton for the dark green serving tray.",
+    "Pick up the small rounded hamburg and the Red fries box, then put both on the dark green serving tray.",
+    "Take the white part with orange edges hamburg and the Golden fries crispy red package container with both arms and set on the tray for serving items.",
+    "Using both arms, set the rounded hamburg with painted details and the Handheld fries pack bright red color onto the smooth texture green tray.",
+    "Lift the smooth orange and white hamburg and the Light yellow fries in red holder and position them on the dark green rectangular plastic tray.",
+    "Grab the decorative rounded hamburg, then the Handheld fries pack bright red color, and set them on the solid green palm-sized tray.",
+    "Lift the yellow marked white and orange hamburg and the Red fries box, placing them neatly on the solid green palm-sized tray.",
+    "Set the hamburg with yellow mark and the Light yellow fries in red holder on the tray with rounded corners using two arms.",
+    "Using both arms, pick the orange hamburg and the Potato fries packaged in red carton and drop them on the single-piece dark green tray.",
+    "Use both arms to move the hand-sized orange hamburg and the Golden fries crispy red package container to the smooth texture green tray.",
+    "Move the yellow marked white and orange hamburg and the Potato fries packaged in red carton with dual arms to the tray for serving items.",
+    "Grab the orange hamburg and the French fries in red packaging, use both arms to set on the dark green rectangular plastic tray.",
+    "Put the hand-sized orange hamburg and the Bright red box with fries inside on the single-piece dark green tray using both arms",
+    "Transfer the small rounded hamburg and the Small red box fries inside to the tray for holding objects with both arms",
+    "Place the white part with orange edges hamburg and the Golden fries sticks in red carton together onto the single-piece dark green tray.",
+    "Position the hamburg with yellow mark and the Red fries box on the dark green serving tray with both arms.",
+    "Take the orange-white hamburg with yellow highlight and the Small red box fries inside to the tray for serving items and set them there.",
+    "Pick up the orange hamburg with white underside and the Potato fries packaged in red carton one by one and place on the smooth texture green tray.",
+    "Move the hand-sized orange hamburg and the Golden fries crispy red package container to the rectangular green tray with both arms",
+    "Place the orange hamburg and the Small red box fries inside onto the solid green palm-sized tray using dual arms",
+    "Grab the orange hamburg with one arm and the Bright red box with fries inside with the other for the medium plastic tray.",
+    "Lift the rounded hamburg with painted details, lift the Rectangular red carton holding fries, then set both on the tray with rounded corners.",
+    "Pick the yellow marked white and orange hamburg, then the Small red box fries inside, and place them on the tray with rounded corners.",
+    "With dual arms, move the irregular shaped hamburg and the Golden fries sticks in red carton onto the smooth texture green tray.",
+    "Use both arms to move the orange hamburg with white underside and the Handheld fries pack bright red color to the single-piece dark green tray.",
+    "Place the decorative rounded hamburg and the Bright red box with fries inside on the tray for holding objects after picking them up.",
+    "Pick the rounded hamburg with painted details and the Open-top red box filled with fries, and set them on the solid green palm-sized tray.",
+    "Using dual arms, move the hamburg with yellow mark and the Red fries box onto the rectangular green tray.",
+    "Use dual arms to move the hamburg with yellow mark and the Golden fries crispy red package container onto the dark green rectangular plastic tray",
+    "Lift the small rounded hamburg and the Bright red box with fries inside, position them on the flat green rectangular tray",
+    "Take the orange hamburg, take the French fries in red packaging, and place them onto the rectangular green tray.",
+    "Place the hand-sized orange hamburg and the Light yellow fries in red holder onto the tray with rounded corners after picking them up.",
+    "Use dual arms to place the small rounded hamburg and the Rectangular red carton holding fries onto the rectangular green tray",
+    "Use dual arms to grab the yellow marked white and orange hamburg and the Light yellow fries in red holder and set them on the solid green palm-sized tray.",
+    "Pick up the rounded hamburg with painted details, then the Rectangular red carton holding fries, and place them onto the tray for serving items.",
+    "Move the decorative rounded hamburg and the Light yellow fries in red holder to the medium plastic tray using both arms.",
+    "Grab the orange-white hamburg with yellow highlight and the Bright red box with fries inside and position them on the dark green serving tray.",
+    "Set the irregular shaped hamburg and the Light yellow fries in red holder down on the flat green rectangular tray after picking them.",
+    "Take the small rounded hamburg and the Open-top red box filled with fries, place them onto the tray for holding objects.",
+    "Using dual arms, lift the rounded hamburg with painted details and the Palm-sized red fries container and drop them on the tray for serving items.",
+    "With two arms, pick the orange-white hamburg with yellow highlight and the Red fries box for the plastic tray with curved edges.",
+    "Grab the white part with orange edges hamburg and the Palm-sized red fries container, then put them on the tray for holding objects.",
+    "Place both the hamburg with yellow mark and the Light yellow fries in red holder on the medium plastic tray after grabbing them with both arms.",
+    "Pick up the irregular shaped hamburg, grab the Handheld fries pack bright red color, place them on the solid green palm-sized tray",
+    "Grab the hamburg with yellow mark, grab the French fries in red packaging, and set both onto the solid green palm-sized tray.",
+    "Use both arms to transfer the yellow marked white and orange hamburg and the Potato fries packaged in red carton to the tray for serving items.",
+    "Grab the yellow marked white and orange hamburg, pick the Light yellow fries in red holder, then set them on the flat green rectangular tray",
+    "Move the smooth orange and white hamburg and the Palm-sized red fries container onto the rectangular green tray with both arms.",
+    "Pick the smooth orange and white hamburg, the French fries in red packaging, and place them on the flat green rectangular tray using both arms.",
+    "Pick up the rounded hamburg with painted details and the Open-top red box filled with fries, then put them on the dark green rectangular plastic tray",
+    "Using both arms, grab the hand-sized orange hamburg and the Golden fries sticks in red carton for the smooth texture green tray.",
+    "Pick up the rounded hamburg with painted details and the Golden fries sticks in red carton, then put both on the flat green rectangular tray.",
+    "Take the orange hamburg with white underside and the Light yellow fries in red holder with both arms and set on the dark green serving tray.",
+    "Using both arms, set the hamburg with yellow mark and the Open-top red box filled with fries onto the tray with rounded corners.",
+    "Lift the hamburg with yellow mark and the Red fries box and position them on the dark green rectangular plastic tray.",
+    "Grab the hand-sized orange hamburg, then the Open-top red box filled with fries, and set them on the flat green rectangular tray.",
+    "Lift the yellow marked white and orange hamburg and the Small red box fries inside, placing them neatly on the tray for holding objects.",
+    "Set the smooth orange and white hamburg and the Rectangular red carton holding fries on the solid green palm-sized tray using two arms.",
+    "Using both arms, pick the orange hamburg with white underside and the Open-top red box filled with fries and drop them on the dark green serving tray.",
+    "Use both arms to move the rounded hamburg with painted details and the Light yellow fries in red holder to the tray for holding objects.",
+    "Move the white part with orange edges hamburg and the Rectangular red carton holding fries with dual arms to the tray for holding objects.",
+    "Grab the hamburg with yellow mark and the Potato fries packaged in red carton, use both arms to set on the plastic tray with curved edges.",
+    "Put the orange hamburg and the Open-top red box filled with fries on the tray for holding objects using both arms"
+  ],
+  "unseen": [
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the green tray.",
+    "Place the hamburg with soft texture and the Golden fries in red carton box onto the smooth green tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the smooth green tray",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the green tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the green tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the smooth green tray.",
+    "Place the hamburg with soft texture and the Crispy potato fries with red box onto the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the smooth green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the smooth green tray.",
+    "Place the hamburg with soft texture and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the green tray.",
+    "Grab the hamburg with white and orange and the Crispy potato fries with red box together, setting them on the green tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the green tray.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the green tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the smooth green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the green tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the smooth green tray.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the green tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the green tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the green tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the green tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with white and orange and the Golden fries in red carton box and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the green tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the smooth green tray.",
+    "Place the hamburg with white and orange and the Crispy potato fries with red box onto the green tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the hamburg with soft texture and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the green tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the green tray",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the green tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the green tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the green tray.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the green tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the green tray",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Place the hamburg with soft texture and the Red carton box fries crispy golden onto the green tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box and place them on the medium green tray for carrying.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the green tray.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the medium green tray for carrying.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the smooth green tray.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the medium green tray for carrying.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with white and orange and the Red carton box fries crispy golden and set them on the green tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001098.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the green and yellow hamburg container and the Bright red box with fries inside to the brown tray and set them there.",
+    "Take the box with green hamburg lid and the Handheld fries pack bright red color with both arms and set on the flat tray with smooth surface.",
+    "Use both arms to transfer the hamburg box with lid and the Small red box fries inside to the medium dark brown tray.",
+    "Move the hamburg box with lid and the Palm-sized red fries container onto the brown tray with both arms.",
+    "Pick the yellow and green hamburg holder and the Golden fries sticks in red carton, and set them on the rectangular plastic tray.",
+    "Grab the yellow bottom hamburg box and the Potato fries packaged in red carton, use both arms to set on the tray with slightly raised edges.",
+    "Lift the yellow bottom hamburg box and the Handheld fries pack bright red color, position them on the brown tray",
+    "Use both arms to move the green top hamburg box and the Handheld fries pack bright red color to the medium-sized dark brown tray.",
+    "Pick up the green and yellow hamburg container and the Potato fries packaged in red carton one by one and place on the tray for holding things.",
+    "Grab the hamburg box with rounded edges with one arm and the Golden fries crispy red package container with the other for the flat brown tray with raised edges.",
+    "Take the green and yellow hamburg container and the Light yellow fries in red holder, place them onto the tray with slightly raised edges.",
+    "Lift the hamburg box with rounded edges and the Light yellow fries in red holder and position them on the flat tray with smooth surface.",
+    "Lift the yellow bottom hamburg box, lift the Red fries box, then set both on the tray for holding things.",
+    "Place both the hamburg box with lid and the Light yellow fries in red holder on the dark rectangular serving tray after grabbing them with both arms.",
+    "Using both arms, set the yellow and green hamburg holder and the Light yellow fries in red holder onto the medium-sized dark brown tray.",
+    "Grab the hamburg box with rounded edges, grab the Bright red box with fries inside, and set both onto the brown tray with rim.",
+    "Using both arms, grab the hamburg box with rounded edges and the Light yellow fries in red holder for the flat brown tray with raised edges.",
+    "Use dual arms to grab the hamburg box with lid and the Golden fries crispy red package container and set them on the medium dark brown tray.",
+    "Position the rectangular hamburg container with smooth finish and the Open-top red box filled with fries on the tray with slightly raised edges with both arms.",
+    "Using both arms, pick the hamburg box with rounded edges and the Potato fries packaged in red carton and drop them on the brown tray with rim.",
+    "Lift the rectangular hamburg container with smooth finish and the French fries in red packaging, placing them neatly on the dark rectangular serving tray.",
+    "Place the rectangular hamburg box and the Golden fries sticks in red carton on the dark rectangular serving tray after picking them up.",
+    "Grab the rectangular hamburg box and the Palm-sized red fries container, then put them on the medium-sized dark brown tray.",
+    "Place the green and yellow hamburg container and the Handheld fries pack bright red color onto the rectangular tray after picking them up.",
+    "Using dual arms, lift the green top hamburg box and the French fries in red packaging and drop them on the medium dark brown tray.",
+    "Move the yellow bottom hamburg box and the Open-top red box filled with fries with dual arms to the dark rectangular serving tray.",
+    "Transfer the box with green hamburg lid and the Potato fries packaged in red carton to the medium-sized dark brown tray with both arms",
+    "Use both arms to move the green top hamburg box and the Small red box fries inside to the rectangular plastic tray.",
+    "Grab the hamburg box with rounded edges, then the Bright red box with fries inside, and set them on the tray with slightly raised edges.",
+    "Use dual arms to place the green top hamburg box and the Small red box fries inside onto the medium dark brown tray",
+    "Grab the rectangular hamburg box and the Handheld fries pack bright red color and position them on the medium-sized dark brown tray.",
+    "Grab the box with green hamburg lid, pick the Bright red box with fries inside, then set them on the flat brown tray with raised edges",
+    "With dual arms, move the hamburg box with lid and the Golden fries crispy red package container onto the flat tray with smooth surface.",
+    "Pick the yellow bottom hamburg box, the Rectangular red carton holding fries, and place them on the tray with slightly raised edges using both arms.",
+    "Set the hamburg box with lid and the Handheld fries pack bright red color down on the flat brown tray with raised edges after picking them.",
+    "Put the hamburg box with rounded edges and the Potato fries packaged in red carton on the rectangular tray using both arms",
+    "With two arms, pick the small hamburg box and the Bright red box with fries inside for the tray for holding things.",
+    "Set the box with green hamburg lid and the Light yellow fries in red holder on the tray with slightly raised edges using two arms.",
+    "Place the rectangular hamburg box and the Rectangular red carton holding fries onto the brown tray with rim using dual arms",
+    "Pick up the green top hamburg box, then the French fries in red packaging, and place them onto the flat tray with smooth surface.",
+    "Move the hamburg box with lid and the Golden fries sticks in red carton to the tray with slightly raised edges using both arms.",
+    "Pick up the smooth hamburg box, grab the Bright red box with fries inside, place them on the tray for holding things",
+    "Take the hamburg box with rounded edges, take the Potato fries packaged in red carton, and place them onto the brown tray.",
+    "Move the easy-to-carry hamburg box and the Rectangular red carton holding fries to the dark rectangular serving tray with both arms",
+    "Place the box with green hamburg lid and the Red fries box together onto the dark rectangular serving tray.",
+    "Use dual arms to move the smooth hamburg box and the Golden fries crispy red package container onto the medium-sized dark brown tray",
+    "Using dual arms, move the small hamburg box and the Bright red box with fries inside onto the brown tray.",
+    "Pick up the green top hamburg box and the Golden fries crispy red package container, then put them on the dark rectangular serving tray",
+    "Pick the rectangular hamburg box, then the Light yellow fries in red holder, and place them on the medium dark brown tray.",
+    "Pick up the green and yellow hamburg container and the Open-top red box filled with fries, then put both on the rectangular tray.",
+    "Take the yellow bottom hamburg box and the Small red box fries inside to the medium dark brown tray and set them there.",
+    "Take the rectangular hamburg box and the Rectangular red carton holding fries with both arms and set on the tray with slightly raised edges.",
+    "Use both arms to transfer the green top hamburg box and the French fries in red packaging to the rectangular plastic tray.",
+    "Move the hamburg box with lid and the Potato fries packaged in red carton onto the brown tray with rim with both arms.",
+    "Pick the smooth hamburg box and the Open-top red box filled with fries, and set them on the rectangular plastic tray.",
+    "Grab the hamburg box with lid and the Open-top red box filled with fries, use both arms to set on the rectangular tray.",
+    "Lift the rectangular hamburg box and the Palm-sized red fries container, position them on the medium dark brown tray",
+    "Use both arms to move the green and yellow hamburg container and the Handheld fries pack bright red color to the smooth plastic tray.",
+    "Pick up the hamburg box with rounded edges and the Palm-sized red fries container one by one and place on the smooth plastic tray.",
+    "Grab the rectangular hamburg container with smooth finish with one arm and the Light yellow fries in red holder with the other for the tray with slightly raised edges.",
+    "Take the hamburg box with lid and the Small red box fries inside, place them onto the rectangular plastic tray.",
+    "Lift the rectangular hamburg box and the Potato fries packaged in red carton and position them on the brown tray.",
+    "Lift the smooth hamburg box, lift the Light yellow fries in red holder, then set both on the smooth plastic tray.",
+    "Place both the hamburg box with rounded edges and the French fries in red packaging on the smooth plastic tray after grabbing them with both arms.",
+    "Using both arms, set the hamburg box with lid and the Red fries box onto the smooth plastic tray.",
+    "Grab the easy-to-carry hamburg box, grab the Light yellow fries in red holder, and set both onto the brown tray with rim.",
+    "Using both arms, grab the green top hamburg box and the Rectangular red carton holding fries for the rectangular tray.",
+    "Use dual arms to grab the box with green hamburg lid and the Small red box fries inside and set them on the brown tray with rim.",
+    "Position the smooth hamburg box and the Golden fries crispy red package container on the tray for holding things with both arms.",
+    "Using both arms, pick the box with green hamburg lid and the Light yellow fries in red holder and drop them on the flat tray with smooth surface.",
+    "Lift the yellow bottom hamburg box and the Handheld fries pack bright red color, placing them neatly on the flat brown tray with raised edges.",
+    "Place the easy-to-carry hamburg box and the Handheld fries pack bright red color on the brown tray with rim after picking them up.",
+    "Grab the hamburg box with rounded edges and the Golden fries sticks in red carton, then put them on the brown tray with rim.",
+    "Place the green top hamburg box and the Potato fries packaged in red carton onto the medium dark brown tray after picking them up.",
+    "Using dual arms, lift the rectangular hamburg container with smooth finish and the Golden fries sticks in red carton and drop them on the tray with slightly raised edges.",
+    "Move the small hamburg box and the Bright red box with fries inside with dual arms to the smooth plastic tray.",
+    "Transfer the hamburg box with lid and the Light yellow fries in red holder to the brown tray with both arms",
+    "Use both arms to move the easy-to-carry hamburg box and the Golden fries crispy red package container to the dark rectangular serving tray.",
+    "Grab the green and yellow hamburg container, then the Light yellow fries in red holder, and set them on the tray with slightly raised edges.",
+    "Use dual arms to place the hamburg box with lid and the Potato fries packaged in red carton onto the flat brown tray with raised edges",
+    "Grab the rectangular hamburg container with smooth finish and the Light yellow fries in red holder and position them on the rectangular tray.",
+    "Grab the small hamburg box, pick the French fries in red packaging, then set them on the medium dark brown tray",
+    "With dual arms, move the box with green hamburg lid and the Golden fries sticks in red carton onto the flat tray with smooth surface.",
+    "Pick the small hamburg box, the Golden fries crispy red package container, and place them on the medium-sized dark brown tray using both arms.",
+    "Set the rectangular hamburg box and the Red fries box down on the flat brown tray with raised edges after picking them.",
+    "Put the smooth hamburg box and the Handheld fries pack bright red color on the brown tray using both arms",
+    "With two arms, pick the yellow bottom hamburg box and the Red fries box for the medium-sized dark brown tray.",
+    "Set the green and yellow hamburg container and the Rectangular red carton holding fries on the flat brown tray with raised edges using two arms.",
+    "Place the yellow and green hamburg holder and the Handheld fries pack bright red color onto the medium-sized dark brown tray using dual arms",
+    "Pick up the small hamburg box, then the French fries in red packaging, and place them onto the tray with slightly raised edges.",
+    "Move the yellow and green hamburg holder and the Light yellow fries in red holder to the medium-sized dark brown tray using both arms.",
+    "Pick up the rectangular hamburg box, grab the Palm-sized red fries container, place them on the rectangular tray",
+    "Take the small hamburg box, take the Rectangular red carton holding fries, and place them onto the brown tray.",
+    "Move the yellow and green hamburg holder and the Potato fries packaged in red carton to the smooth plastic tray with both arms",
+    "Place the yellow and green hamburg holder and the Bright red box with fries inside together onto the smooth plastic tray.",
+    "Use dual arms to move the green top hamburg box and the Open-top red box filled with fries onto the medium-sized dark brown tray",
+    "Using dual arms, move the box with green hamburg lid and the Open-top red box filled with fries onto the brown tray with rim.",
+    "Pick up the easy-to-carry hamburg box and the Light yellow fries in red holder, then put them on the tray for holding things",
+    "Pick the rectangular hamburg box, then the Golden fries crispy red package container, and place them on the tray with slightly raised edges.",
+    "Pick up the hamburg box with rounded edges and the Red fries box, then put both on the tray with slightly raised edges."
+  ],
+  "unseen": [
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Place the stackable hamburg box and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Grab the compact hamburg box and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Use both arms to grab the stackable hamburg box and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden, then set them on the tray for carrying items",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the compact hamburg box and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the Golden fries in red carton box on the medium flat tray.",
+    "Place the stackable hamburg box and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the medium flat tray.",
+    "Place the compact hamburg box and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the compact hamburg box and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the medium flat tray.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Use both arms to grab the stackable hamburg box and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick the compact hamburg box and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box, then place on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Use both arms to grab the stackable hamburg box and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the flat brown serving tray.",
+    "Place the stackable hamburg box and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to grab the stackable hamburg box and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the flat brown serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001099.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth white hamburg packaging, lift the Palm-sized red fries container, then set both on the tray with rounded rectangular shape.",
+    "Pick up the white hamburg with creased wrapper, then the Open-top red box filled with fries, and place them onto the smooth rectangular tray.",
+    "Place the palm-sized hamburg packaging and the Golden fries crispy red package container onto the smooth rectangular tray after picking them up.",
+    "Grab the smooth white hamburg packaging and the Golden fries crispy red package container and position them on the rectangular beige tray for objects.",
+    "Pick up the hamburg with printed illustrations and the Red fries box, then put them on the beige tray",
+    "Use dual arms to move the hamburg with crumpled edges and the French fries in red packaging onto the plastic tray for carrying items",
+    "Using dual arms, move the yellow and brown patterned hamburg and the Red fries box onto the beige tray.",
+    "Transfer the smooth white hamburg packaging and the Red fries box to the flat tray with rounded corners with both arms",
+    "Move the white hamburg and the Palm-sized red fries container to the plastic tray for carrying items using both arms.",
+    "Lift the hamburg with yellow and brown marks and the Small red box fries inside, position them on the smooth rectangular tray",
+    "Grab the wrapped hamburg with white plastic-like cover with one arm and the Potato fries packaged in red carton with the other for the medium rectangular flat tray.",
+    "Move the white hamburg with creased wrapper and the Light yellow fries in red holder to the light beige smooth tray with both arms",
+    "Set the white hamburg and the Handheld fries pack bright red color down on the medium beige tray with flat base after picking them.",
+    "Grab the yellow and brown patterned hamburg, pick the Rectangular red carton holding fries, then set them on the tray for holding items",
+    "Place the hamburg with crumpled edges and the Golden fries crispy red package container on the medium rectangular flat tray after picking them up.",
+    "Put the white hamburg and the French fries in red packaging on the rectangular beige tray for objects using both arms",
+    "Use both arms to move the yellow and brown patterned hamburg and the Golden fries crispy red package container to the smooth light beige plastic tray.",
+    "Set the hamburg with crumpled edges and the Open-top red box filled with fries on the plastic tray for carrying items using two arms.",
+    "Lift the white hamburg with creased wrapper and the French fries in red packaging and position them on the tray for holding items.",
+    "Pick the white hamburg with creased wrapper, the Open-top red box filled with fries, and place them on the medium rectangular flat tray using both arms.",
+    "Take the hamburg with yellow and brown marks and the Rectangular red carton holding fries with both arms and set on the flat tray with rounded corners.",
+    "With two arms, pick the white hamburg with creased wrapper and the Open-top red box filled with fries for the smooth light beige plastic tray.",
+    "Place the hamburg with crumpled edges and the Potato fries packaged in red carton onto the beige tray using dual arms",
+    "Pick the rectangular hamburg wrap with printed design, then the Light yellow fries in red holder, and place them on the tray with rounded rectangular shape.",
+    "Grab the palm-sized hamburg packaging, grab the Small red box fries inside, and set both onto the smooth rectangular tray.",
+    "Use dual arms to place the hamburg with crumpled edges and the Rectangular red carton holding fries onto the plastic tray for carrying items",
+    "Grab the hamburg with printed illustrations, then the Red fries box, and set them on the flat tray with rounded corners.",
+    "Pick the yellow and brown patterned hamburg and the Red fries box, and set them on the tray with rounded rectangular shape.",
+    "Position the white hamburg and the Potato fries packaged in red carton on the medium beige tray with flat base with both arms.",
+    "Place both the smooth white hamburg wrap with yellow spots and the Light yellow fries in red holder on the rectangular beige tray for objects after grabbing them with both arms.",
+    "Pick up the smooth white hamburg wrap with yellow spots and the Small red box fries inside one by one and place on the medium rectangular flat tray.",
+    "Take the white hamburg with yellow and brown stains, take the Red fries box, and place them onto the medium beige tray with flat base.",
+    "Grab the palm-sized hamburg packaging and the Light yellow fries in red holder, then put them on the light beige smooth tray.",
+    "Using dual arms, lift the white hamburg with yellow and brown stains and the Small red box fries inside and drop them on the plastic tray for carrying items.",
+    "Move the wrapped hamburg with white plastic-like cover and the Rectangular red carton holding fries onto the medium rectangular flat tray with both arms.",
+    "Place the rectangular hamburg wrap with printed design and the Small red box fries inside together onto the tray for holding items.",
+    "Using both arms, set the smooth white hamburg packaging and the Golden fries sticks in red carton onto the medium beige tray with flat base.",
+    "Use both arms to move the rectangular hamburg wrap with printed design and the Light yellow fries in red holder to the flat tray with rounded corners.",
+    "Use both arms to transfer the yellow and brown patterned hamburg and the Rectangular red carton holding fries to the tray with smooth plastic surface.",
+    "Take the hamburg with crumpled edges and the Potato fries packaged in red carton, place them onto the smooth light beige plastic tray.",
+    "Using both arms, pick the white hamburg with yellow and brown stains and the Potato fries packaged in red carton and drop them on the plastic tray for carrying items.",
+    "Take the wrapped hamburg with white plastic-like cover and the Golden fries sticks in red carton to the medium rectangular flat tray and set them there.",
+    "With dual arms, move the hamburg with printed illustrations and the Light yellow fries in red holder onto the light beige smooth tray.",
+    "Pick up the white hamburg, grab the Light yellow fries in red holder, place them on the tray for holding items",
+    "Grab the smooth white hamburg packaging and the Golden fries sticks in red carton, use both arms to set on the tray for holding items.",
+    "Move the white hamburg and the Rectangular red carton holding fries with dual arms to the flat tray with rounded corners.",
+    "Use dual arms to grab the palm-sized hamburg packaging and the Light yellow fries in red holder and set them on the smooth rectangular tray.",
+    "Using both arms, grab the hamburg with crumpled edges and the Bright red box with fries inside for the smooth light beige plastic tray.",
+    "Lift the white hamburg and the Rectangular red carton holding fries, placing them neatly on the smooth light beige plastic tray.",
+    "Pick up the palm-sized hamburg packaging and the Golden fries crispy red package container, then put both on the plastic tray for carrying items.",
+    "Lift the palm-sized hamburg packaging, lift the Potato fries packaged in red carton, then set both on the smooth rectangular tray.",
+    "Pick up the white hamburg with yellow and brown stains, then the Rectangular red carton holding fries, and place them onto the plastic tray for carrying items.",
+    "Place the white hamburg with creased wrapper and the Open-top red box filled with fries onto the beige tray after picking them up.",
+    "Grab the smooth white hamburg packaging and the Light yellow fries in red holder and position them on the rectangular beige tray for objects.",
+    "Pick up the palm-sized hamburg packaging and the Palm-sized red fries container, then put them on the beige tray",
+    "Use dual arms to move the hamburg with crumpled edges and the Handheld fries pack bright red color onto the flat tray with rounded corners",
+    "Using dual arms, move the yellow and brown patterned hamburg and the Golden fries sticks in red carton onto the medium rectangular flat tray.",
+    "Transfer the wrapped hamburg with white plastic-like cover and the Potato fries packaged in red carton to the smooth rectangular tray with both arms",
+    "Move the white hamburg with yellow and brown stains and the Palm-sized red fries container to the light beige smooth tray using both arms.",
+    "Lift the smooth white hamburg packaging and the Small red box fries inside, position them on the light beige smooth tray",
+    "Grab the hamburg with printed illustrations with one arm and the Bright red box with fries inside with the other for the tray for holding items.",
+    "Move the white hamburg with creased wrapper and the French fries in red packaging to the medium beige tray with flat base with both arms",
+    "Set the hamburg with crumpled edges and the Small red box fries inside down on the smooth light beige plastic tray after picking them.",
+    "Grab the rectangular hamburg wrap with printed design, pick the Open-top red box filled with fries, then set them on the light beige smooth tray",
+    "Place the hamburg with printed illustrations and the Light yellow fries in red holder on the rectangular beige tray for objects after picking them up.",
+    "Put the smooth white hamburg packaging and the Light yellow fries in red holder on the tray with rounded rectangular shape using both arms",
+    "Use both arms to move the hamburg with yellow and brown marks and the Handheld fries pack bright red color to the medium rectangular flat tray.",
+    "Set the hamburg with printed illustrations and the Golden fries crispy red package container on the tray with smooth plastic surface using two arms.",
+    "Lift the palm-sized hamburg packaging and the Rectangular red carton holding fries and position them on the medium rectangular flat tray.",
+    "Pick the white hamburg, the Potato fries packaged in red carton, and place them on the flat tray with rounded corners using both arms.",
+    "Take the white hamburg with creased wrapper and the Golden fries sticks in red carton with both arms and set on the tray with smooth plastic surface.",
+    "With two arms, pick the rectangular hamburg wrap with printed design and the Small red box fries inside for the tray with rounded rectangular shape.",
+    "Place the yellow and brown patterned hamburg and the Bright red box with fries inside onto the plastic tray for carrying items using dual arms",
+    "Pick the hamburg with printed illustrations, then the Golden fries sticks in red carton, and place them on the light beige smooth tray.",
+    "Grab the white hamburg with creased wrapper, grab the Small red box fries inside, and set both onto the tray with rounded rectangular shape.",
+    "Use dual arms to place the white hamburg and the Handheld fries pack bright red color onto the beige tray",
+    "Grab the hamburg with crumpled edges, then the Red fries box, and set them on the plastic tray for carrying items.",
+    "Pick the palm-sized hamburg packaging and the Light yellow fries in red holder, and set them on the beige tray.",
+    "Position the smooth white hamburg packaging and the Red fries box on the plastic tray for carrying items with both arms.",
+    "Place both the wrapped hamburg with white plastic-like cover and the Open-top red box filled with fries on the light beige smooth tray after grabbing them with both arms.",
+    "Pick up the wrapped hamburg with white plastic-like cover and the Golden fries sticks in red carton one by one and place on the tray with rounded rectangular shape.",
+    "Take the hamburg with crumpled edges, take the Light yellow fries in red holder, and place them onto the medium rectangular flat tray.",
+    "Grab the palm-sized hamburg packaging and the Golden fries crispy red package container, then put them on the tray with smooth plastic surface.",
+    "Using dual arms, lift the hamburg with printed illustrations and the Palm-sized red fries container and drop them on the smooth light beige plastic tray.",
+    "Move the hamburg with yellow and brown marks and the Red fries box onto the medium beige tray with flat base with both arms.",
+    "Place the hamburg with printed illustrations and the Red fries box together onto the tray with rounded rectangular shape.",
+    "Using both arms, set the yellow and brown patterned hamburg and the Small red box fries inside onto the smooth light beige plastic tray.",
+    "Use both arms to move the smooth white hamburg packaging and the Handheld fries pack bright red color to the plastic tray for carrying items.",
+    "Use both arms to transfer the yellow and brown patterned hamburg and the Open-top red box filled with fries to the rectangular beige tray for objects.",
+    "Take the white hamburg with creased wrapper and the Light yellow fries in red holder, place them onto the light beige smooth tray.",
+    "Using both arms, pick the white hamburg with creased wrapper and the Rectangular red carton holding fries and drop them on the medium beige tray with flat base.",
+    "Take the hamburg with printed illustrations and the Bright red box with fries inside to the light beige smooth tray and set them there.",
+    "With dual arms, move the hamburg with yellow and brown marks and the Red fries box onto the beige tray.",
+    "Pick up the rectangular hamburg wrap with printed design, grab the Small red box fries inside, place them on the flat tray with rounded corners",
+    "Grab the white hamburg and the Potato fries packaged in red carton, use both arms to set on the medium rectangular flat tray.",
+    "Move the yellow and brown patterned hamburg and the Light yellow fries in red holder with dual arms to the tray for holding items.",
+    "Use dual arms to grab the hamburg with yellow and brown marks and the Rectangular red carton holding fries and set them on the smooth rectangular tray.",
+    "Using both arms, grab the hamburg with yellow and brown marks and the Rectangular red carton holding fries for the rectangular beige tray for objects.",
+    "Lift the wrapped hamburg with white plastic-like cover and the Open-top red box filled with fries, placing them neatly on the smooth rectangular tray.",
+    "Pick up the hamburg with crumpled edges and the Potato fries packaged in red carton, then put both on the flat tray with rounded corners."
+  ],
+  "unseen": [
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box, then set them on the medium beige plastic tray",
+    "Grab the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, setting them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box, then place on the rectangular beige tray.",
+    "Place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with uneven white surface and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Place the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with uneven white surface and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, setting them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Grab the rounded rectangular hamburg wrap and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden and place them on the medium beige plastic tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, place them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Place the rounded rectangular hamburg wrap and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with uneven white surface and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick the rounded rectangular hamburg wrap and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Grab the hamburg with uneven white surface and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Use both arms to place the hamburg with uneven white surface and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Place the rounded rectangular hamburg wrap and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with uneven white surface and the Red carton box fries crispy golden and set them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Grab the hamburg with uneven white surface and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Use both arms to place the rounded rectangular hamburg wrap and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Place the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Grab the hamburg with uneven white surface and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Use both arms to place the small yellow-marked hamburg wrapper and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the small yellow-marked hamburg wrapper and the Crispy potato fries with red box, then place on the beige tray with soft edges.",
+    "Place the hamburg with uneven white surface and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Use both arms to grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Grab the hamburg with uneven white surface and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Use both arms to place the hamburg with uneven white surface and the Crispy potato fries with red box on the beige tray with soft edges.",
+    "Pick up the rounded rectangular hamburg wrap and the Golden fries in red carton box, then place on the medium beige plastic tray.",
+    "Place the rounded rectangular hamburg wrap and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with uneven white surface and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, then place them on the medium beige plastic tray.",
+    "Grab the hamburg with uneven white surface and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Grab the small yellow-marked hamburg wrapper and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Use both arms to place the rounded rectangular hamburg wrap and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Place the hamburg with uneven white surface and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with uneven white surface and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Pick the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then place them on the beige tray with soft edges.",
+    "Grab the rounded rectangular hamburg wrap and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Grab the small yellow-marked hamburg wrapper and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Pick up the hamburg with uneven white surface and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Pick the small yellow-marked hamburg wrapper and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Use both arms to place the rounded rectangular hamburg wrap and the Red carton box fries crispy golden on the rectangular beige tray.",
+    "Pick up the hamburg with uneven white surface and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Place the small yellow-marked hamburg wrapper and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the rounded rectangular hamburg wrap and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Pick the hamburg with uneven white surface and the Red carton box fries crispy golden, then place them on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001101.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white lid with yellow bottom hamburg box and the Bright red box with fries inside to the brown tray with rim with both arms",
+    "Using dual arms, move the yellow hamburg box with white accents and the Handheld fries pack bright red color onto the tray with slightly raised edges.",
+    "Grab the smooth yellow hamburg packaging and the Open-top red box filled with fries, then put them on the tray for holding things.",
+    "Use both arms to move the hamburg box with foldable top and the Open-top red box filled with fries to the smooth plastic tray.",
+    "Pick up the yellow box for hamburg, grab the Red fries box, place them on the medium-sized dark brown tray",
+    "Put the rectangular hamburg box and the Golden fries crispy red package container on the tray for holding things using both arms",
+    "Use both arms to transfer the hamburg box with foldable top and the Bright red box with fries inside to the brown tray with rim.",
+    "Grab the yellow box for hamburg with one arm and the Palm-sized red fries container with the other for the tray with slightly raised edges.",
+    "Pick up the foldable hamburg cardboard box and the Palm-sized red fries container, then put them on the brown tray",
+    "Place the medium-sized box with hamburg design and the Open-top red box filled with fries on the flat brown tray with raised edges after picking them up.",
+    "Grab the medium-sized yellow hamburg package and the Golden fries sticks in red carton, use both arms to set on the dark rectangular serving tray.",
+    "With dual arms, move the medium-sized yellow hamburg package and the Bright red box with fries inside onto the medium-sized dark brown tray.",
+    "Move the foldable hamburg cardboard box and the Small red box fries inside with dual arms to the smooth plastic tray.",
+    "Move the yellow hamburg box with white accents and the Open-top red box filled with fries onto the brown tray with both arms.",
+    "Use dual arms to move the rectangular hamburg box and the Bright red box with fries inside onto the brown tray",
+    "Transfer the bright yellow hamburg box with logo and the French fries in red packaging to the flat tray with smooth surface with both arms",
+    "Set the smooth yellow hamburg packaging and the Palm-sized red fries container on the tray with slightly raised edges using two arms.",
+    "Using dual arms, lift the hamburg box with foldable top and the Light yellow fries in red holder and drop them on the medium dark brown tray.",
+    "Pick the yellow hamburg box, the Potato fries packaged in red carton, and place them on the smooth plastic tray using both arms.",
+    "Take the hamburg box with foldable top and the French fries in red packaging, place them onto the rectangular plastic tray.",
+    "Pick up the bright yellow hamburg box with logo, then the Small red box fries inside, and place them onto the flat tray with smooth surface.",
+    "Position the yellow hamburg box with white accents and the Light yellow fries in red holder on the flat brown tray with raised edges with both arms.",
+    "Place the bright yellow hamburg box with logo and the Potato fries packaged in red carton together onto the medium-sized dark brown tray.",
+    "Place the bright yellow hamburg box with logo and the Rectangular red carton holding fries onto the brown tray after picking them up.",
+    "Using both arms, grab the medium-sized box with hamburg design and the Palm-sized red fries container for the rectangular tray.",
+    "Use dual arms to place the hamburg box with foldable top and the Golden fries sticks in red carton onto the brown tray with rim",
+    "Grab the yellow box for hamburg, grab the Bright red box with fries inside, and set both onto the tray with slightly raised edges.",
+    "Pick up the yellow box for hamburg and the Golden fries sticks in red carton one by one and place on the tray for holding things.",
+    "Pick the yellow hamburg box with white accents and the Handheld fries pack bright red color, and set them on the smooth plastic tray.",
+    "Lift the yellow hamburg box, lift the Light yellow fries in red holder, then set both on the smooth plastic tray.",
+    "With two arms, pick the rectangular hamburg box and the Red fries box for the medium-sized dark brown tray.",
+    "Place both the medium-sized box with hamburg design and the French fries in red packaging on the flat tray with smooth surface after grabbing them with both arms.",
+    "Take the yellow box for hamburg and the Light yellow fries in red holder to the rectangular plastic tray and set them there.",
+    "Pick the yellow box for hamburg, then the Potato fries packaged in red carton, and place them on the smooth plastic tray.",
+    "Use dual arms to grab the foldable hamburg cardboard box and the Rectangular red carton holding fries and set them on the flat tray with smooth surface.",
+    "Using both arms, pick the yellow box for hamburg and the Red fries box and drop them on the rectangular plastic tray.",
+    "Pick up the foldable hamburg cardboard box and the Bright red box with fries inside, then put both on the flat tray with smooth surface.",
+    "Using both arms, set the smooth yellow hamburg packaging and the Light yellow fries in red holder onto the flat brown tray with raised edges.",
+    "Lift the yellow hamburg box with white accents and the Golden fries crispy red package container and position them on the medium dark brown tray.",
+    "Set the yellow box for hamburg and the Golden fries crispy red package container down on the dark rectangular serving tray after picking them.",
+    "Lift the yellow hamburg box with white accents and the Potato fries packaged in red carton, placing them neatly on the rectangular plastic tray.",
+    "Move the bright yellow hamburg box with logo and the Small red box fries inside to the brown tray using both arms.",
+    "Lift the bright yellow hamburg box with logo and the Rectangular red carton holding fries, position them on the medium dark brown tray",
+    "Place the rectangular hamburg box and the French fries in red packaging onto the brown tray using dual arms",
+    "Grab the yellow box for hamburg, pick the Handheld fries pack bright red color, then set them on the flat brown tray with raised edges",
+    "Grab the yellow hamburg box and the Rectangular red carton holding fries and position them on the tray for holding things.",
+    "Take the rectangular hamburg box, take the Rectangular red carton holding fries, and place them onto the medium-sized dark brown tray.",
+    "Use both arms to move the white lid with yellow bottom hamburg box and the Small red box fries inside to the rectangular plastic tray.",
+    "Take the smooth yellow hamburg packaging and the Light yellow fries in red holder with both arms and set on the medium dark brown tray.",
+    "Grab the white and yellow printed hamburg holder, then the Golden fries sticks in red carton, and set them on the tray with slightly raised edges.",
+    "Move the medium-sized yellow hamburg package and the Small red box fries inside to the medium-sized dark brown tray with both arms",
+    "Using dual arms, move the yellow hamburg box and the Small red box fries inside onto the dark rectangular serving tray.",
+    "Grab the yellow hamburg box and the Potato fries packaged in red carton, then put them on the smooth plastic tray.",
+    "Use both arms to move the rectangular hamburg box and the Red fries box to the smooth plastic tray.",
+    "Pick up the smooth yellow hamburg packaging, grab the Golden fries sticks in red carton, place them on the dark rectangular serving tray",
+    "Put the medium-sized box with hamburg design and the Golden fries sticks in red carton on the flat tray with smooth surface using both arms",
+    "Use both arms to transfer the rectangular hamburg box and the Bright red box with fries inside to the rectangular plastic tray.",
+    "Grab the foldable hamburg cardboard box with one arm and the French fries in red packaging with the other for the flat brown tray with raised edges.",
+    "Pick up the hamburg box with foldable top and the Red fries box, then put them on the tray with slightly raised edges",
+    "Place the white and yellow printed hamburg holder and the Rectangular red carton holding fries on the tray for holding things after picking them up.",
+    "Grab the medium-sized box with hamburg design and the Red fries box, use both arms to set on the tray for holding things.",
+    "With dual arms, move the smooth yellow hamburg packaging and the Light yellow fries in red holder onto the rectangular plastic tray.",
+    "Move the smooth yellow hamburg packaging and the Palm-sized red fries container with dual arms to the medium-sized dark brown tray.",
+    "Move the smooth yellow hamburg packaging and the Golden fries sticks in red carton onto the flat brown tray with raised edges with both arms.",
+    "Use dual arms to move the bright yellow hamburg box with logo and the French fries in red packaging onto the smooth plastic tray",
+    "Transfer the medium-sized box with hamburg design and the Light yellow fries in red holder to the medium dark brown tray with both arms",
+    "Set the medium-sized box with hamburg design and the Rectangular red carton holding fries on the medium-sized dark brown tray using two arms.",
+    "Using dual arms, lift the bright yellow hamburg box with logo and the Handheld fries pack bright red color and drop them on the brown tray with rim.",
+    "Pick the white lid with yellow bottom hamburg box, the Bright red box with fries inside, and place them on the medium-sized dark brown tray using both arms.",
+    "Take the foldable hamburg cardboard box and the Light yellow fries in red holder, place them onto the medium-sized dark brown tray.",
+    "Pick up the white lid with yellow bottom hamburg box, then the Potato fries packaged in red carton, and place them onto the tray for holding things.",
+    "Position the medium-sized yellow hamburg package and the Bright red box with fries inside on the dark rectangular serving tray with both arms.",
+    "Place the white and yellow printed hamburg holder and the Bright red box with fries inside together onto the rectangular plastic tray.",
+    "Place the white lid with yellow bottom hamburg box and the Light yellow fries in red holder onto the flat tray with smooth surface after picking them up.",
+    "Using both arms, grab the rectangular hamburg box and the Light yellow fries in red holder for the brown tray.",
+    "Use dual arms to place the medium-sized yellow hamburg package and the Bright red box with fries inside onto the medium dark brown tray",
+    "Grab the white lid with yellow bottom hamburg box, grab the French fries in red packaging, and set both onto the brown tray.",
+    "Pick up the foldable hamburg cardboard box and the Handheld fries pack bright red color one by one and place on the medium dark brown tray.",
+    "Pick the hamburg box with foldable top and the Light yellow fries in red holder, and set them on the smooth plastic tray.",
+    "Lift the hamburg box with foldable top, lift the French fries in red packaging, then set both on the brown tray with rim.",
+    "With two arms, pick the rectangular hamburg box and the Light yellow fries in red holder for the medium dark brown tray.",
+    "Place both the medium-sized box with hamburg design and the Small red box fries inside on the rectangular plastic tray after grabbing them with both arms.",
+    "Take the white and yellow printed hamburg holder and the Golden fries sticks in red carton to the tray for holding things and set them there.",
+    "Pick the medium-sized yellow hamburg package, then the Golden fries sticks in red carton, and place them on the dark rectangular serving tray.",
+    "Use dual arms to grab the bright yellow hamburg box with logo and the Palm-sized red fries container and set them on the rectangular tray.",
+    "Using both arms, pick the yellow hamburg box with white accents and the Palm-sized red fries container and drop them on the rectangular tray.",
+    "Pick up the white and yellow printed hamburg holder and the Golden fries sticks in red carton, then put both on the rectangular plastic tray.",
+    "Using both arms, set the hamburg box with foldable top and the Palm-sized red fries container onto the brown tray with rim.",
+    "Lift the rectangular hamburg box and the Palm-sized red fries container and position them on the medium dark brown tray.",
+    "Set the smooth yellow hamburg packaging and the Open-top red box filled with fries down on the flat tray with smooth surface after picking them.",
+    "Lift the foldable hamburg cardboard box and the Red fries box, placing them neatly on the smooth plastic tray.",
+    "Move the white lid with yellow bottom hamburg box and the French fries in red packaging to the dark rectangular serving tray using both arms.",
+    "Lift the medium-sized box with hamburg design and the Palm-sized red fries container, position them on the flat brown tray with raised edges",
+    "Place the bright yellow hamburg box with logo and the French fries in red packaging onto the rectangular tray using dual arms",
+    "Grab the hamburg box with foldable top, pick the Bright red box with fries inside, then set them on the brown tray with rim",
+    "Grab the medium-sized box with hamburg design and the Small red box fries inside and position them on the rectangular tray.",
+    "Take the foldable hamburg cardboard box, take the Golden fries sticks in red carton, and place them onto the smooth plastic tray.",
+    "Use both arms to move the bright yellow hamburg box with logo and the French fries in red packaging to the rectangular tray.",
+    "Take the smooth yellow hamburg packaging and the Potato fries packaged in red carton with both arms and set on the rectangular tray.",
+    "Grab the yellow hamburg box, then the Small red box fries inside, and set them on the brown tray with rim."
+  ],
+  "unseen": [
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Use both arms to place the cardboard hamburg container and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the flat brown serving tray",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium flat tray",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the flat brown serving tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the flat brown serving tray",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the flat brown serving tray.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the flat brown serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001102.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the green top hamburg box, lift the Light yellow fries in red holder, then set both on the bright orange tray with glossy finish.",
+    "With two arms, pick the rectangular hamburg box and the French fries in red packaging for the smooth plastic tray.",
+    "Pick up the small hamburg box, grab the Potato fries packaged in red carton, place them on the orange tray with smooth surface",
+    "Take the rectangular hamburg box and the Red fries box, place them onto the bright orange rectangular tray.",
+    "Using dual arms, lift the yellow bottom hamburg box and the Bright red box with fries inside and drop them on the medium bright orange tray.",
+    "Using both arms, grab the easy-to-carry hamburg box and the Light yellow fries in red holder for the bright orange tray for serving.",
+    "Place the box with green hamburg lid and the Bright red box with fries inside onto the plastic tray with shiny texture after picking them up.",
+    "Put the rectangular hamburg container with smooth finish and the Golden fries sticks in red carton on the plastic tray for holding items using both arms",
+    "Use dual arms to move the yellow bottom hamburg box and the Light yellow fries in red holder onto the orange tray with smooth surface",
+    "Set the yellow and green hamburg holder and the French fries in red packaging down on the bright orange rectangular tray after picking them.",
+    "Lift the easy-to-carry hamburg box and the Red fries box, placing them neatly on the medium bright orange tray.",
+    "Move the small hamburg box and the Golden fries crispy red package container to the rectangular tray with both arms",
+    "Use dual arms to place the green and yellow hamburg container and the Open-top red box filled with fries onto the orange tray",
+    "Position the rectangular hamburg box and the Golden fries crispy red package container on the bright orange tray for serving with both arms.",
+    "Transfer the rectangular hamburg container with smooth finish and the Palm-sized red fries container to the bright orange rectangular tray with both arms",
+    "Pick up the green and yellow hamburg container, then the Handheld fries pack bright red color, and place them onto the smooth glossy orange medium tray.",
+    "Use both arms to transfer the box with green hamburg lid and the Potato fries packaged in red carton to the smooth plastic tray.",
+    "Using both arms, set the rectangular hamburg box and the Rectangular red carton holding fries onto the medium bright orange tray.",
+    "Lift the green top hamburg box and the Open-top red box filled with fries and position them on the plastic tray for holding items.",
+    "Take the hamburg box with rounded edges and the Light yellow fries in red holder with both arms and set on the smooth plastic tray.",
+    "Grab the small hamburg box, grab the Potato fries packaged in red carton, and set both onto the smooth glossy orange medium tray.",
+    "Grab the easy-to-carry hamburg box, pick the Small red box fries inside, then set them on the plastic tray for holding items",
+    "Grab the easy-to-carry hamburg box and the Golden fries sticks in red carton and position them on the medium-sized plastic tray.",
+    "Place the small hamburg box and the Rectangular red carton holding fries on the smooth glossy orange medium tray after picking them up.",
+    "Using dual arms, move the rectangular hamburg container with smooth finish and the Palm-sized red fries container onto the orange tray with smooth surface.",
+    "Place the rectangular hamburg container with smooth finish and the Palm-sized red fries container onto the orange tray with smooth surface using dual arms",
+    "Move the yellow bottom hamburg box and the Bright red box with fries inside to the bright orange tray with glossy finish using both arms.",
+    "Lift the green top hamburg box and the Small red box fries inside, position them on the bright orange tray for serving",
+    "Place the hamburg box with lid and the Light yellow fries in red holder together onto the plastic tray with shiny texture.",
+    "Set the rectangular hamburg box and the French fries in red packaging on the smooth glossy orange medium tray using two arms.",
+    "Grab the rectangular hamburg container with smooth finish with one arm and the Golden fries crispy red package container with the other for the medium-sized plastic tray.",
+    "Pick the yellow and green hamburg holder, then the French fries in red packaging, and place them on the orange tray.",
+    "Take the green and yellow hamburg container, take the Potato fries packaged in red carton, and place them onto the plastic tray with shiny texture.",
+    "Grab the hamburg box with lid and the Rectangular red carton holding fries, use both arms to set on the smooth plastic tray.",
+    "Use both arms to move the rectangular hamburg container with smooth finish and the Golden fries crispy red package container to the medium-sized plastic tray.",
+    "Grab the rectangular hamburg box, then the Rectangular red carton holding fries, and set them on the bright orange rectangular tray.",
+    "Using both arms, pick the green top hamburg box and the Small red box fries inside and drop them on the smooth glossy orange medium tray.",
+    "Grab the green top hamburg box and the Open-top red box filled with fries, then put them on the medium-sized plastic tray.",
+    "Pick the yellow bottom hamburg box, the Handheld fries pack bright red color, and place them on the medium-sized plastic tray using both arms.",
+    "Take the rectangular hamburg container with smooth finish and the Golden fries crispy red package container to the rectangular tray and set them there.",
+    "Pick the green top hamburg box and the Handheld fries pack bright red color, and set them on the rectangular tray.",
+    "Pick up the green and yellow hamburg container and the Palm-sized red fries container, then put them on the medium-sized plastic tray",
+    "Pick up the green top hamburg box and the Light yellow fries in red holder, then put both on the orange tray.",
+    "Move the box with green hamburg lid and the Open-top red box filled with fries onto the smooth plastic tray with both arms.",
+    "Use dual arms to grab the smooth hamburg box and the French fries in red packaging and set them on the medium bright orange tray.",
+    "Use both arms to move the hamburg box with lid and the Small red box fries inside to the bright orange tray with glossy finish.",
+    "With dual arms, move the hamburg box with rounded edges and the Golden fries sticks in red carton onto the medium bright orange tray.",
+    "Place both the hamburg box with lid and the Small red box fries inside on the medium-sized plastic tray after grabbing them with both arms.",
+    "Pick up the easy-to-carry hamburg box and the Open-top red box filled with fries one by one and place on the rectangular tray.",
+    "Move the green top hamburg box and the Open-top red box filled with fries with dual arms to the smooth plastic tray.",
+    "Lift the rectangular hamburg container with smooth finish, lift the Potato fries packaged in red carton, then set both on the rectangular tray.",
+    "With two arms, pick the green top hamburg box and the Handheld fries pack bright red color for the medium bright orange tray.",
+    "Pick up the box with green hamburg lid, grab the Golden fries crispy red package container, place them on the orange tray with smooth surface",
+    "Take the rectangular hamburg container with smooth finish and the Light yellow fries in red holder, place them onto the rectangular tray.",
+    "Using dual arms, lift the green top hamburg box and the Bright red box with fries inside and drop them on the smooth glossy orange medium tray.",
+    "Using both arms, grab the easy-to-carry hamburg box and the Handheld fries pack bright red color for the bright orange tray for serving.",
+    "Place the rectangular hamburg container with smooth finish and the Small red box fries inside onto the orange tray after picking them up.",
+    "Put the rectangular hamburg container with smooth finish and the Potato fries packaged in red carton on the medium bright orange tray using both arms",
+    "Use dual arms to move the box with green hamburg lid and the Bright red box with fries inside onto the rectangular tray",
+    "Set the hamburg box with rounded edges and the Open-top red box filled with fries down on the plastic tray with shiny texture after picking them.",
+    "Lift the yellow bottom hamburg box and the Open-top red box filled with fries, placing them neatly on the smooth plastic tray.",
+    "Move the hamburg box with rounded edges and the Handheld fries pack bright red color to the orange tray with both arms",
+    "Use dual arms to place the hamburg box with rounded edges and the Golden fries crispy red package container onto the orange tray",
+    "Position the box with green hamburg lid and the Rectangular red carton holding fries on the bright orange tray for serving with both arms.",
+    "Transfer the yellow bottom hamburg box and the Bright red box with fries inside to the orange tray with smooth surface with both arms",
+    "Pick up the hamburg box with rounded edges, then the Golden fries crispy red package container, and place them onto the orange tray.",
+    "Use both arms to transfer the rectangular hamburg container with smooth finish and the Potato fries packaged in red carton to the bright orange tray with glossy finish.",
+    "Using both arms, set the small hamburg box and the Open-top red box filled with fries onto the plastic tray with shiny texture.",
+    "Lift the green and yellow hamburg container and the Red fries box and position them on the rectangular tray.",
+    "Take the yellow and green hamburg holder and the Red fries box with both arms and set on the orange tray.",
+    "Grab the hamburg box with rounded edges, grab the Palm-sized red fries container, and set both onto the orange tray with smooth surface.",
+    "Grab the hamburg box with rounded edges, pick the Golden fries crispy red package container, then set them on the plastic tray for holding items",
+    "Grab the green and yellow hamburg container and the Rectangular red carton holding fries and position them on the smooth glossy orange medium tray.",
+    "Place the rectangular hamburg box and the Golden fries sticks in red carton on the smooth glossy orange medium tray after picking them up.",
+    "Using dual arms, move the yellow and green hamburg holder and the Small red box fries inside onto the orange tray.",
+    "Place the hamburg box with lid and the Handheld fries pack bright red color onto the bright orange tray with glossy finish using dual arms",
+    "Move the yellow bottom hamburg box and the Golden fries crispy red package container to the smooth plastic tray using both arms.",
+    "Lift the rectangular hamburg container with smooth finish and the Golden fries crispy red package container, position them on the orange tray with smooth surface",
+    "Place the hamburg box with lid and the Open-top red box filled with fries together onto the bright orange tray for serving.",
+    "Set the green and yellow hamburg container and the Light yellow fries in red holder on the orange tray using two arms.",
+    "Grab the easy-to-carry hamburg box with one arm and the Bright red box with fries inside with the other for the orange tray.",
+    "Pick the yellow and green hamburg holder, then the Rectangular red carton holding fries, and place them on the bright orange tray for serving.",
+    "Take the green and yellow hamburg container, take the Bright red box with fries inside, and place them onto the bright orange tray with glossy finish.",
+    "Grab the green top hamburg box and the Small red box fries inside, use both arms to set on the rectangular tray.",
+    "Use both arms to move the yellow bottom hamburg box and the Rectangular red carton holding fries to the plastic tray with shiny texture.",
+    "Grab the green and yellow hamburg container, then the Potato fries packaged in red carton, and set them on the bright orange rectangular tray.",
+    "Using both arms, pick the hamburg box with rounded edges and the Potato fries packaged in red carton and drop them on the bright orange rectangular tray.",
+    "Grab the green top hamburg box and the Handheld fries pack bright red color, then put them on the plastic tray for holding items.",
+    "Pick the rectangular hamburg container with smooth finish, the Small red box fries inside, and place them on the smooth glossy orange medium tray using both arms.",
+    "Take the small hamburg box and the Golden fries crispy red package container to the medium bright orange tray and set them there.",
+    "Pick the yellow and green hamburg holder and the Potato fries packaged in red carton, and set them on the orange tray.",
+    "Pick up the hamburg box with lid and the Open-top red box filled with fries, then put them on the bright orange rectangular tray",
+    "Pick up the easy-to-carry hamburg box and the Open-top red box filled with fries, then put both on the medium-sized plastic tray.",
+    "Move the rectangular hamburg box and the French fries in red packaging onto the orange tray with smooth surface with both arms.",
+    "Use dual arms to grab the green top hamburg box and the Handheld fries pack bright red color and set them on the bright orange tray with glossy finish.",
+    "Use both arms to move the rectangular hamburg container with smooth finish and the Red fries box to the smooth plastic tray.",
+    "With dual arms, move the yellow bottom hamburg box and the Red fries box onto the bright orange tray for serving.",
+    "Place both the hamburg box with rounded edges and the Golden fries crispy red package container on the smooth glossy orange medium tray after grabbing them with both arms.",
+    "Pick up the smooth hamburg box and the Rectangular red carton holding fries one by one and place on the bright orange tray with glossy finish.",
+    "Move the green top hamburg box and the Handheld fries pack bright red color with dual arms to the rectangular tray."
+  ],
+  "unseen": [
+    "Use both arms to grab the cardboard hamburg box and the Red carton box fries crispy golden and set them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box together, then drop on the rectangular tray with rounded edges",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the rectangular tray with rounded edges.",
+    "Place the stackable hamburg box and the Red carton box fries crispy golden onto the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden, then set them on the rectangular tray with rounded edges",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box, then place on the medium-sized tray with rounded corners.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg box and the Red carton box fries crispy golden on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box together, then drop on the rectangular bright orange serving tray",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden together, setting them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the Crispy potato fries with red box onto the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the rectangular bright orange serving tray",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden, then place on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the compact hamburg box and the Red carton box fries crispy golden and set them on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box together, then drop on the medium-sized tray with rounded corners",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, place them on the rectangular tray with rounded edges.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the medium-sized tray with rounded corners.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden, then set them on the rectangular bright orange serving tray",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box, then place on the rectangular tray with rounded edges.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the stackable hamburg box and the Golden fries in red carton box on the rectangular bright orange serving tray.",
+    "Use both arms to grab the stackable hamburg box and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box together, then drop on the rectangular tray with rounded edges",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, place them on the rectangular tray with rounded edges.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the medium-sized tray with rounded corners.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden, then set them on the rectangular bright orange serving tray",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box, then place on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the compact hamburg box and the Red carton box fries crispy golden on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Place the compact hamburg box and the Golden fries in red carton box onto the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden, then set them on the rectangular bright orange serving tray",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden, then place on the medium-sized tray with rounded corners.",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the rectangular tray with rounded edges.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the rectangular tray with rounded edges",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box, then place on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the rectangular bright orange serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the medium-sized tray with rounded corners",
+    "Grab the compact hamburg box and the Crispy potato fries with red box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, place them on the rectangular bright orange serving tray.",
+    "Place the stackable hamburg box and the Red carton box fries crispy golden onto the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Golden fries in red carton box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden, then place on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the rectangular tray with rounded edges.",
+    "Use both arms to grab the stackable hamburg box and the Red carton box fries crispy golden and set them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the rectangular bright orange serving tray.",
+    "Place the stackable hamburg box and the Crispy potato fries with red box onto the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the medium-sized tray with rounded corners",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden, then place on the medium-sized tray with rounded corners.",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the compact hamburg box and the Red carton box fries crispy golden on the rectangular tray with rounded edges.",
+    "Use both arms to grab the cardboard hamburg box and the Red carton box fries crispy golden and set them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the rectangular tray with rounded edges",
+    "Grab the compact hamburg box and the Crispy potato fries with red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, place them on the rectangular bright orange serving tray.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the rectangular tray with rounded edges",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden, then place on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden and place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the medium-sized tray with rounded corners.",
+    "Use both arms to grab the cardboard hamburg box and the Crispy potato fries with red box and set them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the medium-sized tray with rounded corners",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the rectangular tray with rounded edges.",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the medium-sized tray with rounded corners.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the Golden fries in red carton box, then set them on the rectangular tray with rounded edges",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the Crispy potato fries with red box, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box and place them on the rectangular bright orange serving tray.",
+    "Use both arms to place the stackable hamburg box and the Red carton box fries crispy golden on the rectangular bright orange serving tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001103.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using dual arms, lift the small hamburg box and the golden fries in red packaging and drop them on the orange tray.",
+    "Move the yellow and green hamburg holder and the McDonald's fries bag to the medium-sized plastic tray using both arms.",
+    "Place both the rectangular hamburg container with smooth finish and the red fries packet on the plastic tray for holding items after grabbing them with both arms.",
+    "Using dual arms, move the green top hamburg box and the rectangular red fries packet onto the orange tray with smooth surface.",
+    "Grab the yellow and green hamburg holder and the red container with yellow fries, then put them on the medium bright orange tray.",
+    "Pick up the rectangular hamburg box, then the red box with golden sticks, and place them onto the orange tray with smooth surface.",
+    "Pick up the smooth hamburg box and the crispy fries in hand-sized pouch one by one and place on the medium bright orange tray.",
+    "Set the easy-to-carry hamburg box and the rectangular red fries packet on the rectangular tray using two arms.",
+    "Use both arms to move the rectangular hamburg box and the bright red fries holder to the plastic tray for holding items.",
+    "Move the rectangular hamburg box and the McDonald's fries bag to the orange tray with both arms",
+    "Place the easy-to-carry hamburg box and the golden fries in red packaging onto the rectangular tray after picking them up.",
+    "Using both arms, pick the smooth hamburg box and the red box with golden sticks and drop them on the orange tray.",
+    "Put the rectangular hamburg box and the red box with golden sticks on the orange tray with smooth surface using both arms",
+    "Place the green and yellow hamburg container and the small red fries packet on the medium bright orange tray after picking them up.",
+    "With dual arms, move the smooth hamburg box and the red box with golden sticks onto the bright orange rectangular tray.",
+    "Grab the rectangular hamburg container with smooth finish and the rectangular red fries packet and position them on the bright orange rectangular tray.",
+    "Position the hamburg box with lid and the thin crispy potato fries on the smooth plastic tray with both arms.",
+    "Pick the easy-to-carry hamburg box, the golden fries in red packaging, and place them on the medium bright orange tray using both arms.",
+    "Pick the yellow and green hamburg holder, then the thin crispy potato fries, and place them on the smooth glossy orange medium tray.",
+    "Lift the easy-to-carry hamburg box and the McDonald's fries bag, placing them neatly on the medium-sized plastic tray.",
+    "Using both arms, set the yellow and green hamburg holder and the McDonald's fries bag onto the rectangular tray.",
+    "Take the rectangular hamburg box and the small red fries packet, place them onto the smooth plastic tray.",
+    "Grab the yellow bottom hamburg box and the rectangular red fries packet, use both arms to set on the bright orange tray for serving.",
+    "Move the yellow and green hamburg holder and the crispy fries in hand-sized pouch with dual arms to the bright orange tray with glossy finish.",
+    "Use both arms to transfer the small hamburg box and the crispy fries in hand-sized pouch to the medium-sized plastic tray.",
+    "Lift the box with green hamburg lid, lift the thin crispy potato fries, then set both on the bright orange tray with glossy finish.",
+    "Using both arms, grab the smooth hamburg box and the crispy fries in hand-sized pouch for the bright orange tray for serving.",
+    "Pick up the easy-to-carry hamburg box and the McDonald's fries bag, then put them on the smooth glossy orange medium tray",
+    "Use both arms to move the smooth hamburg box and the red box with golden sticks to the plastic tray for holding items.",
+    "Take the hamburg box with lid and the golden fries in red packaging with both arms and set on the rectangular tray.",
+    "Move the hamburg box with rounded edges and the rectangular red fries packet onto the orange tray with both arms.",
+    "Lift the smooth hamburg box and the red container with yellow fries and position them on the bright orange tray with glossy finish.",
+    "Pick the small hamburg box and the small red fries packet, and set them on the smooth plastic tray.",
+    "With two arms, pick the smooth hamburg box and the McDonald's fries bag for the smooth plastic tray.",
+    "Grab the green top hamburg box, pick the crispy fries in hand-sized pouch, then set them on the plastic tray with shiny texture",
+    "Grab the yellow and green hamburg holder with one arm and the red fries packet with the other for the smooth plastic tray.",
+    "Take the hamburg box with rounded edges and the red container with yellow fries to the smooth plastic tray and set them there.",
+    "Set the yellow and green hamburg holder and the red container with yellow fries down on the rectangular tray after picking them.",
+    "Use dual arms to move the smooth hamburg box and the red container with yellow fries onto the bright orange tray for serving",
+    "Grab the green top hamburg box, then the McDonald's logo on red fries box, and set them on the medium-sized plastic tray.",
+    "Use dual arms to grab the box with green hamburg lid and the rectangular red fries packet and set them on the plastic tray for holding items.",
+    "Pick up the smooth hamburg box, grab the red box with golden sticks, place them on the medium-sized plastic tray",
+    "Lift the box with green hamburg lid and the crispy fries in hand-sized pouch, position them on the bright orange tray for serving",
+    "Place the green and yellow hamburg container and the golden fries in smooth red pouch onto the bright orange rectangular tray using dual arms",
+    "Use dual arms to place the box with green hamburg lid and the golden fries in red packaging onto the medium bright orange tray",
+    "Transfer the small hamburg box and the rectangular red fries packet to the orange tray with smooth surface with both arms",
+    "Grab the green and yellow hamburg container, grab the red box with golden sticks, and set both onto the smooth glossy orange medium tray.",
+    "Pick up the small hamburg box and the golden fries in smooth red pouch, then put both on the orange tray.",
+    "Place the green and yellow hamburg container and the small red fries packet together onto the orange tray with smooth surface.",
+    "Take the green top hamburg box, take the crispy fries in hand-sized pouch, and place them onto the smooth plastic tray.",
+    "Using dual arms, lift the green and yellow hamburg container and the red box with golden sticks and drop them on the plastic tray for holding items.",
+    "Move the hamburg box with rounded edges and the thin crispy potato fries to the medium-sized plastic tray using both arms.",
+    "Place both the yellow and green hamburg holder and the bright red fries holder on the bright orange rectangular tray after grabbing them with both arms.",
+    "Using dual arms, move the hamburg box with rounded edges and the golden fries in smooth red pouch onto the smooth glossy orange medium tray.",
+    "Grab the rectangular hamburg container with smooth finish and the red container with yellow fries, then put them on the bright orange tray for serving.",
+    "Pick up the hamburg box with rounded edges, then the crispy fries in hand-sized pouch, and place them onto the rectangular tray.",
+    "Pick up the green and yellow hamburg container and the red box with golden sticks one by one and place on the orange tray.",
+    "Set the green top hamburg box and the thin crispy potato fries on the orange tray using two arms.",
+    "Use both arms to move the green top hamburg box and the golden fries in red packaging to the medium bright orange tray.",
+    "Move the small hamburg box and the McDonald's logo on red fries box to the smooth glossy orange medium tray with both arms",
+    "Place the yellow bottom hamburg box and the red box with golden sticks onto the bright orange rectangular tray after picking them up.",
+    "Using both arms, pick the green top hamburg box and the thin crispy potato fries and drop them on the bright orange tray for serving.",
+    "Put the yellow and green hamburg holder and the red fries packet on the bright orange tray with glossy finish using both arms",
+    "Place the smooth hamburg box and the golden fries in smooth red pouch on the medium bright orange tray after picking them up.",
+    "With dual arms, move the rectangular hamburg box and the crispy fries in hand-sized pouch onto the orange tray with smooth surface.",
+    "Grab the yellow and green hamburg holder and the bright red fries holder and position them on the bright orange tray with glossy finish.",
+    "Position the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch on the plastic tray for holding items with both arms.",
+    "Pick the rectangular hamburg container with smooth finish, the McDonald's fries bag, and place them on the plastic tray with shiny texture using both arms.",
+    "Pick the box with green hamburg lid, then the red fries packet, and place them on the orange tray.",
+    "Lift the hamburg box with rounded edges and the McDonald's logo on red fries box, placing them neatly on the orange tray.",
+    "Using both arms, set the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch onto the rectangular tray.",
+    "Take the green top hamburg box and the small red fries packet, place them onto the plastic tray with shiny texture.",
+    "Grab the rectangular hamburg container with smooth finish and the crispy fries in hand-sized pouch, use both arms to set on the medium-sized plastic tray.",
+    "Move the hamburg box with lid and the crispy fries in hand-sized pouch with dual arms to the smooth plastic tray.",
+    "Use both arms to transfer the rectangular hamburg container with smooth finish and the rectangular red fries packet to the plastic tray with shiny texture.",
+    "Lift the small hamburg box, lift the crispy fries in hand-sized pouch, then set both on the rectangular tray.",
+    "Using both arms, grab the box with green hamburg lid and the McDonald's fries bag for the smooth glossy orange medium tray.",
+    "Pick up the rectangular hamburg box and the McDonald's logo on red fries box, then put them on the orange tray",
+    "Use both arms to move the hamburg box with rounded edges and the red fries packet to the plastic tray for holding items.",
+    "Take the rectangular hamburg container with smooth finish and the red container with yellow fries with both arms and set on the medium-sized plastic tray.",
+    "Move the hamburg box with lid and the bright red fries holder onto the plastic tray with shiny texture with both arms.",
+    "Lift the easy-to-carry hamburg box and the golden fries in red packaging and position them on the smooth plastic tray.",
+    "Pick the yellow bottom hamburg box and the golden fries in smooth red pouch, and set them on the medium-sized plastic tray.",
+    "With two arms, pick the hamburg box with lid and the golden fries in red packaging for the bright orange rectangular tray.",
+    "Grab the smooth hamburg box, pick the bright red fries holder, then set them on the medium bright orange tray",
+    "Grab the hamburg box with lid with one arm and the McDonald's fries bag with the other for the bright orange rectangular tray.",
+    "Take the smooth hamburg box and the red fries packet to the bright orange tray for serving and set them there.",
+    "Set the hamburg box with rounded edges and the red box with golden sticks down on the orange tray after picking them.",
+    "Use dual arms to move the hamburg box with rounded edges and the McDonald's logo on red fries box onto the medium bright orange tray",
+    "Grab the box with green hamburg lid, then the golden fries in red packaging, and set them on the bright orange tray with glossy finish.",
+    "Use dual arms to grab the green and yellow hamburg container and the McDonald's logo on red fries box and set them on the smooth plastic tray.",
+    "Pick up the easy-to-carry hamburg box, grab the thin crispy potato fries, place them on the rectangular tray",
+    "Lift the rectangular hamburg container with smooth finish and the bright red fries holder, position them on the bright orange tray for serving",
+    "Place the yellow bottom hamburg box and the rectangular red fries packet onto the bright orange rectangular tray using dual arms",
+    "Use dual arms to place the smooth hamburg box and the bright red fries holder onto the medium-sized plastic tray",
+    "Transfer the smooth hamburg box and the rectangular red fries packet to the medium-sized plastic tray with both arms",
+    "Grab the yellow bottom hamburg box, grab the red container with yellow fries, and set both onto the orange tray with smooth surface.",
+    "Pick up the hamburg box with lid and the red container with yellow fries, then put both on the orange tray with smooth surface.",
+    "Place the smooth hamburg box and the small red fries packet together onto the smooth glossy orange medium tray.",
+    "Take the hamburg box with rounded edges, take the crispy fries in hand-sized pouch, and place them onto the smooth plastic tray."
+  ],
+  "unseen": [
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the rectangular tray with rounded edges",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the golden fries in red holder, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg box and the hand-sized fries container, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the rectangular bright orange serving tray.",
+    "Place the stackable hamburg box and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the rectangular tray with rounded edges.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the rectangular bright orange serving tray",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the rectangular bright orange serving tray",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the rectangular tray with rounded edges.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the rectangular tray with rounded edges.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the hand-sized fries container on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the compact hamburg box and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the rectangular tray with rounded edges",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Place the compact hamburg box and the golden crispy fries inside red box onto the medium-sized tray with rounded corners.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the medium-sized tray with rounded corners",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the rectangular bright orange serving tray.",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the rectangular bright orange serving tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the compact hamburg box and the hand-sized fries container and set them on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the rectangular tray with rounded edges.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the rectangular bright orange serving tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box and place them on the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the rectangular bright orange serving tray",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Place the cardboard hamburg box and the golden crispy fries inside red box onto the rectangular tray with rounded edges.",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the stackable hamburg box and the hand-sized fries container and place them on the medium-sized tray with rounded corners.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the medium-sized tray with rounded corners",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the rectangular tray with rounded edges.",
+    "Pick up the stackable hamburg box and the golden fries in red holder, then place on the rectangular bright orange serving tray.",
+    "Place the compact hamburg box and the golden fries in red holder onto the medium-sized tray with rounded corners.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the rectangular bright orange serving tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium-sized tray with rounded corners.",
+    "Use both arms to place the compact hamburg box and the golden crispy fries inside red box on the medium-sized tray with rounded corners.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the medium-sized tray with rounded corners.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the rectangular tray with rounded edges",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium-sized tray with rounded corners",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the rectangular tray with rounded edges.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the medium-sized tray with rounded corners.",
+    "Place the stackable hamburg box and the hand-sized fries container onto the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container together, setting them on the medium-sized tray with rounded corners.",
+    "Pick the compact hamburg box and the golden fries in red holder, place them on the rectangular tray with rounded edges.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the rectangular bright orange serving tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the rectangular bright orange serving tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box, then set them on the medium-sized tray with rounded corners",
+    "Use both arms to grab the compact hamburg box and the golden fries in red holder and set them on the rectangular tray with rounded edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container together, then drop on the rectangular tray with rounded edges",
+    "Pick the cardboard hamburg box and the golden fries in red holder, then place them on the medium-sized tray with rounded corners.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the medium-sized tray with rounded corners.",
+    "Place the compact hamburg box and the golden fries in red holder onto the medium-sized tray with rounded corners."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001104.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using both arms, pick the yellow hamburg box with white accents and the Small red box fries inside and drop them on the medium-sized dark brown tray.",
+    "Grab the yellow hamburg box, grab the Bright red box with fries inside, and set both onto the dark rectangular serving tray.",
+    "Pick up the white lid with yellow bottom hamburg box, grab the Open-top red box filled with fries, place them on the flat tray with smooth surface",
+    "Use both arms to transfer the medium-sized yellow hamburg package and the Red fries box to the dark rectangular serving tray.",
+    "Transfer the foldable hamburg cardboard box and the Golden fries sticks in red carton to the brown tray with both arms",
+    "Move the white and yellow printed hamburg holder and the Golden fries crispy red package container onto the flat brown tray with raised edges with both arms.",
+    "Take the yellow hamburg box and the Golden fries sticks in red carton to the medium dark brown tray and set them there.",
+    "Move the yellow hamburg box with white accents and the Small red box fries inside to the flat tray with smooth surface using both arms.",
+    "Grab the white lid with yellow bottom hamburg box, pick the Handheld fries pack bright red color, then set them on the tray for holding things",
+    "Position the yellow hamburg box and the Open-top red box filled with fries on the flat brown tray with raised edges with both arms.",
+    "Place both the hamburg box with foldable top and the Red fries box on the flat brown tray with raised edges after grabbing them with both arms.",
+    "Use dual arms to place the white and yellow printed hamburg holder and the Small red box fries inside onto the brown tray",
+    "Put the rectangular hamburg box and the Potato fries packaged in red carton on the tray for holding things using both arms",
+    "Using both arms, set the hamburg box with foldable top and the Golden fries sticks in red carton onto the brown tray.",
+    "Take the foldable hamburg cardboard box and the Palm-sized red fries container, place them onto the brown tray.",
+    "Pick up the yellow hamburg box, then the Palm-sized red fries container, and place them onto the flat brown tray with raised edges.",
+    "With dual arms, move the bright yellow hamburg box with logo and the Rectangular red carton holding fries onto the smooth plastic tray.",
+    "Lift the hamburg box with foldable top and the Small red box fries inside, placing them neatly on the flat brown tray with raised edges.",
+    "Using both arms, grab the foldable hamburg cardboard box and the Handheld fries pack bright red color for the flat brown tray with raised edges.",
+    "Pick up the foldable hamburg cardboard box and the Red fries box, then put both on the rectangular tray.",
+    "Pick up the hamburg box with foldable top and the Rectangular red carton holding fries, then put them on the smooth plastic tray",
+    "Take the medium-sized yellow hamburg package, take the Handheld fries pack bright red color, and place them onto the rectangular plastic tray.",
+    "Set the yellow hamburg box and the Red fries box down on the medium dark brown tray after picking them.",
+    "Place the yellow hamburg box with white accents and the Potato fries packaged in red carton on the smooth plastic tray after picking them up.",
+    "Grab the white and yellow printed hamburg holder with one arm and the Handheld fries pack bright red color with the other for the dark rectangular serving tray.",
+    "Pick the bright yellow hamburg box with logo and the French fries in red packaging, and set them on the brown tray with rim.",
+    "Using dual arms, move the medium-sized yellow hamburg package and the Light yellow fries in red holder onto the tray for holding things.",
+    "Place the medium-sized yellow hamburg package and the Small red box fries inside onto the medium-sized dark brown tray after picking them up.",
+    "Grab the yellow box for hamburg and the Handheld fries pack bright red color, then put them on the smooth plastic tray.",
+    "Take the hamburg box with foldable top and the Rectangular red carton holding fries with both arms and set on the tray for holding things.",
+    "Lift the yellow hamburg box and the Palm-sized red fries container and position them on the rectangular plastic tray.",
+    "Set the bright yellow hamburg box with logo and the Open-top red box filled with fries on the tray with slightly raised edges using two arms.",
+    "Grab the yellow box for hamburg, then the Bright red box with fries inside, and set them on the rectangular plastic tray.",
+    "Place the yellow box for hamburg and the Light yellow fries in red holder onto the medium-sized dark brown tray using dual arms",
+    "Use both arms to move the yellow hamburg box and the Palm-sized red fries container to the rectangular tray.",
+    "Move the rectangular hamburg box and the Golden fries sticks in red carton to the medium dark brown tray with both arms",
+    "Grab the yellow box for hamburg and the Open-top red box filled with fries and position them on the rectangular tray.",
+    "Lift the yellow hamburg box and the French fries in red packaging, position them on the flat tray with smooth surface",
+    "Place the yellow hamburg box with white accents and the French fries in red packaging together onto the rectangular plastic tray.",
+    "Use dual arms to move the white lid with yellow bottom hamburg box and the Light yellow fries in red holder onto the flat brown tray with raised edges",
+    "Pick the yellow box for hamburg, then the Small red box fries inside, and place them on the brown tray with rim.",
+    "Move the yellow hamburg box and the Rectangular red carton holding fries with dual arms to the tray for holding things.",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the Open-top red box filled with fries for the brown tray with rim.",
+    "Use both arms to move the smooth yellow hamburg packaging and the French fries in red packaging to the tray for holding things.",
+    "Use dual arms to grab the medium-sized box with hamburg design and the Light yellow fries in red holder and set them on the tray for holding things.",
+    "Grab the yellow box for hamburg and the Golden fries sticks in red carton, use both arms to set on the medium-sized dark brown tray.",
+    "Using dual arms, lift the rectangular hamburg box and the Bright red box with fries inside and drop them on the brown tray.",
+    "Pick up the bright yellow hamburg box with logo and the Red fries box one by one and place on the dark rectangular serving tray.",
+    "Pick the yellow hamburg box, the Open-top red box filled with fries, and place them on the smooth plastic tray using both arms.",
+    "Lift the bright yellow hamburg box with logo, lift the French fries in red packaging, then set both on the brown tray.",
+    "Using both arms, pick the bright yellow hamburg box with logo and the Handheld fries pack bright red color and drop them on the medium dark brown tray.",
+    "Grab the medium-sized yellow hamburg package, grab the Golden fries sticks in red carton, and set both onto the medium dark brown tray.",
+    "Pick up the hamburg box with foldable top, grab the Red fries box, place them on the smooth plastic tray",
+    "Use both arms to transfer the white and yellow printed hamburg holder and the Open-top red box filled with fries to the rectangular tray.",
+    "Transfer the yellow hamburg box and the Light yellow fries in red holder to the flat brown tray with raised edges with both arms",
+    "Move the yellow hamburg box and the Golden fries sticks in red carton onto the rectangular plastic tray with both arms.",
+    "Take the foldable hamburg cardboard box and the French fries in red packaging to the tray with slightly raised edges and set them there.",
+    "Move the bright yellow hamburg box with logo and the Bright red box with fries inside to the rectangular tray using both arms.",
+    "Grab the yellow hamburg box, pick the Handheld fries pack bright red color, then set them on the tray with slightly raised edges",
+    "Position the foldable hamburg cardboard box and the Small red box fries inside on the rectangular tray with both arms.",
+    "Place both the foldable hamburg cardboard box and the Palm-sized red fries container on the smooth plastic tray after grabbing them with both arms.",
+    "Use dual arms to place the medium-sized box with hamburg design and the Bright red box with fries inside onto the medium dark brown tray",
+    "Put the yellow hamburg box with white accents and the Handheld fries pack bright red color on the rectangular tray using both arms",
+    "Using both arms, set the foldable hamburg cardboard box and the Rectangular red carton holding fries onto the rectangular tray.",
+    "Take the bright yellow hamburg box with logo and the Bright red box with fries inside, place them onto the brown tray with rim.",
+    "Pick up the foldable hamburg cardboard box, then the Open-top red box filled with fries, and place them onto the brown tray with rim.",
+    "With dual arms, move the bright yellow hamburg box with logo and the French fries in red packaging onto the medium-sized dark brown tray.",
+    "Lift the yellow box for hamburg and the Handheld fries pack bright red color, placing them neatly on the flat brown tray with raised edges.",
+    "Using both arms, grab the yellow hamburg box with white accents and the Small red box fries inside for the rectangular tray.",
+    "Pick up the rectangular hamburg box and the Light yellow fries in red holder, then put both on the flat brown tray with raised edges.",
+    "Pick up the yellow hamburg box with white accents and the French fries in red packaging, then put them on the smooth plastic tray",
+    "Take the foldable hamburg cardboard box, take the Golden fries sticks in red carton, and place them onto the tray for holding things.",
+    "Set the medium-sized box with hamburg design and the French fries in red packaging down on the brown tray with rim after picking them.",
+    "Place the foldable hamburg cardboard box and the Palm-sized red fries container on the tray for holding things after picking them up.",
+    "Grab the yellow box for hamburg with one arm and the Rectangular red carton holding fries with the other for the rectangular plastic tray.",
+    "Pick the yellow hamburg box and the Palm-sized red fries container, and set them on the brown tray.",
+    "Using dual arms, move the white lid with yellow bottom hamburg box and the Rectangular red carton holding fries onto the flat tray with smooth surface.",
+    "Place the medium-sized yellow hamburg package and the Palm-sized red fries container onto the brown tray after picking them up.",
+    "Grab the foldable hamburg cardboard box and the Palm-sized red fries container, then put them on the tray for holding things.",
+    "Take the yellow hamburg box with white accents and the Light yellow fries in red holder with both arms and set on the brown tray.",
+    "Lift the rectangular hamburg box and the Small red box fries inside and position them on the brown tray with rim.",
+    "Set the bright yellow hamburg box with logo and the French fries in red packaging on the smooth plastic tray using two arms.",
+    "Grab the medium-sized yellow hamburg package, then the Golden fries crispy red package container, and set them on the dark rectangular serving tray.",
+    "Place the white lid with yellow bottom hamburg box and the French fries in red packaging onto the medium-sized dark brown tray using dual arms",
+    "Use both arms to move the hamburg box with foldable top and the Bright red box with fries inside to the flat tray with smooth surface.",
+    "Move the foldable hamburg cardboard box and the Golden fries crispy red package container to the dark rectangular serving tray with both arms",
+    "Grab the yellow hamburg box and the Light yellow fries in red holder and position them on the tray for holding things.",
+    "Lift the rectangular hamburg box and the Potato fries packaged in red carton, position them on the tray for holding things",
+    "Place the yellow box for hamburg and the Red fries box together onto the medium dark brown tray.",
+    "Use dual arms to move the medium-sized box with hamburg design and the Potato fries packaged in red carton onto the flat tray with smooth surface",
+    "Pick the smooth yellow hamburg packaging, then the Golden fries sticks in red carton, and place them on the smooth plastic tray.",
+    "Move the bright yellow hamburg box with logo and the Light yellow fries in red holder with dual arms to the rectangular tray.",
+    "With two arms, pick the yellow hamburg box with white accents and the Light yellow fries in red holder for the flat tray with smooth surface.",
+    "Use both arms to move the bright yellow hamburg box with logo and the Palm-sized red fries container to the smooth plastic tray.",
+    "Use dual arms to grab the yellow hamburg box and the Handheld fries pack bright red color and set them on the flat tray with smooth surface.",
+    "Grab the yellow box for hamburg and the Bright red box with fries inside, use both arms to set on the dark rectangular serving tray.",
+    "Using dual arms, lift the white lid with yellow bottom hamburg box and the French fries in red packaging and drop them on the brown tray with rim.",
+    "Pick up the white lid with yellow bottom hamburg box and the Light yellow fries in red holder one by one and place on the brown tray with rim.",
+    "Pick the white and yellow printed hamburg holder, the Potato fries packaged in red carton, and place them on the rectangular tray using both arms.",
+    "Lift the smooth yellow hamburg packaging, lift the Handheld fries pack bright red color, then set both on the smooth plastic tray."
+  ],
+  "unseen": [
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the tray for carrying items.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden and set them on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the flat brown serving tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the tray for carrying items",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the hamburg pack with printed details and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the tray for carrying items.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the medium flat tray",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium flat tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the medium flat tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the cardboard hamburg container and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Place the rectangular cardboard box for hamburg and the Crispy potato fries with red box onto the medium flat tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the flat brown serving tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the hamburg pack with printed details and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden together, then drop on the tray for carrying items",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the flat brown serving tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box and place them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg container and the Red carton box fries crispy golden on the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001105.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the yellow hamburg box with white accents and the Light yellow fries in red holder to the rectangular beige tray for objects with both arms",
+    "Grab the bright yellow hamburg box with logo, then the Potato fries packaged in red carton, and set them on the tray with rounded rectangular shape.",
+    "Using dual arms, lift the white lid with yellow bottom hamburg box and the Rectangular red carton holding fries and drop them on the rectangular beige tray for objects.",
+    "Lift the yellow box for hamburg, lift the Golden fries sticks in red carton, then set both on the tray for holding items.",
+    "Place the hamburg box with foldable top and the Light yellow fries in red holder onto the plastic tray for carrying items after picking them up.",
+    "Lift the medium-sized box with hamburg design and the Rectangular red carton holding fries, placing them neatly on the tray with smooth plastic surface.",
+    "Grab the white and yellow printed hamburg holder, grab the Red fries box, and set both onto the beige tray.",
+    "Place the smooth yellow hamburg packaging and the Rectangular red carton holding fries onto the light beige smooth tray using dual arms",
+    "Use dual arms to grab the rectangular hamburg box and the Palm-sized red fries container and set them on the light beige smooth tray.",
+    "Transfer the hamburg box with foldable top and the Red fries box to the light beige smooth tray with both arms",
+    "With dual arms, move the smooth yellow hamburg packaging and the Rectangular red carton holding fries onto the medium rectangular flat tray.",
+    "Grab the bright yellow hamburg box with logo and the Rectangular red carton holding fries, then put them on the flat tray with rounded corners.",
+    "Using both arms, pick the white lid with yellow bottom hamburg box and the Red fries box and drop them on the rectangular beige tray for objects.",
+    "Move the yellow box for hamburg and the Red fries box onto the medium beige tray with flat base with both arms.",
+    "Place both the medium-sized box with hamburg design and the Handheld fries pack bright red color on the beige tray after grabbing them with both arms.",
+    "Place the white lid with yellow bottom hamburg box and the Light yellow fries in red holder on the beige tray after picking them up.",
+    "Pick the yellow hamburg box and the Red fries box, and set them on the plastic tray for carrying items.",
+    "Use both arms to move the medium-sized box with hamburg design and the Handheld fries pack bright red color to the beige tray.",
+    "Grab the rectangular hamburg box with one arm and the Bright red box with fries inside with the other for the tray with smooth plastic surface.",
+    "Pick the rectangular hamburg box, the Light yellow fries in red holder, and place them on the light beige smooth tray using both arms.",
+    "Using dual arms, move the white lid with yellow bottom hamburg box and the French fries in red packaging onto the medium rectangular flat tray.",
+    "Using both arms, set the hamburg box with foldable top and the Handheld fries pack bright red color onto the smooth rectangular tray.",
+    "Take the rectangular hamburg box and the Golden fries sticks in red carton to the medium beige tray with flat base and set them there.",
+    "Pick up the yellow box for hamburg and the Golden fries sticks in red carton, then put them on the tray with smooth plastic surface",
+    "Grab the medium-sized box with hamburg design and the Open-top red box filled with fries and position them on the medium rectangular flat tray.",
+    "Take the white lid with yellow bottom hamburg box, take the Light yellow fries in red holder, and place them onto the beige tray.",
+    "Grab the medium-sized box with hamburg design and the Small red box fries inside, use both arms to set on the medium beige tray with flat base.",
+    "Move the smooth yellow hamburg packaging and the Bright red box with fries inside to the light beige smooth tray using both arms.",
+    "Pick the yellow hamburg box with white accents, then the Light yellow fries in red holder, and place them on the tray with smooth plastic surface.",
+    "Pick up the foldable hamburg cardboard box, grab the Red fries box, place them on the light beige smooth tray",
+    "Place the yellow box for hamburg and the Palm-sized red fries container together onto the smooth light beige plastic tray.",
+    "Use dual arms to move the white and yellow printed hamburg holder and the Rectangular red carton holding fries onto the flat tray with rounded corners",
+    "Set the smooth yellow hamburg packaging and the Golden fries sticks in red carton on the smooth rectangular tray using two arms.",
+    "Use both arms to transfer the yellow hamburg box with white accents and the Bright red box with fries inside to the smooth rectangular tray.",
+    "With two arms, pick the hamburg box with foldable top and the Rectangular red carton holding fries for the medium rectangular flat tray.",
+    "Lift the bright yellow hamburg box with logo and the Handheld fries pack bright red color and position them on the medium beige tray with flat base.",
+    "Lift the rectangular hamburg box and the Small red box fries inside, position them on the tray for holding items",
+    "Move the white lid with yellow bottom hamburg box and the Golden fries crispy red package container with dual arms to the plastic tray for carrying items.",
+    "Use dual arms to place the white lid with yellow bottom hamburg box and the Handheld fries pack bright red color onto the plastic tray for carrying items",
+    "Set the yellow hamburg box with white accents and the Palm-sized red fries container down on the tray with smooth plastic surface after picking them.",
+    "Pick up the smooth yellow hamburg packaging, then the Palm-sized red fries container, and place them onto the flat tray with rounded corners.",
+    "Take the bright yellow hamburg box with logo and the Palm-sized red fries container, place them onto the flat tray with rounded corners.",
+    "Position the medium-sized box with hamburg design and the Small red box fries inside on the smooth rectangular tray with both arms.",
+    "Take the medium-sized yellow hamburg package and the Golden fries sticks in red carton with both arms and set on the light beige smooth tray.",
+    "Grab the yellow hamburg box with white accents, pick the Red fries box, then set them on the smooth light beige plastic tray",
+    "Using both arms, grab the yellow hamburg box with white accents and the Handheld fries pack bright red color for the light beige smooth tray.",
+    "Pick up the medium-sized yellow hamburg package and the Light yellow fries in red holder, then put both on the beige tray.",
+    "Use both arms to move the yellow hamburg box and the Palm-sized red fries container to the rectangular beige tray for objects.",
+    "Pick up the foldable hamburg cardboard box and the Red fries box one by one and place on the flat tray with rounded corners.",
+    "Put the hamburg box with foldable top and the Bright red box with fries inside on the plastic tray for carrying items using both arms",
+    "Move the yellow box for hamburg and the Open-top red box filled with fries to the medium beige tray with flat base with both arms",
+    "Grab the medium-sized yellow hamburg package, then the Red fries box, and set them on the medium rectangular flat tray.",
+    "Using dual arms, lift the yellow hamburg box with white accents and the Light yellow fries in red holder and drop them on the light beige smooth tray.",
+    "Lift the white lid with yellow bottom hamburg box, lift the Small red box fries inside, then set both on the medium rectangular flat tray.",
+    "Place the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton onto the flat tray with rounded corners after picking them up.",
+    "Lift the hamburg box with foldable top and the Open-top red box filled with fries, placing them neatly on the rectangular beige tray for objects.",
+    "Grab the foldable hamburg cardboard box, grab the Small red box fries inside, and set both onto the tray with smooth plastic surface.",
+    "Place the hamburg box with foldable top and the Red fries box onto the tray with smooth plastic surface using dual arms",
+    "Use dual arms to grab the yellow box for hamburg and the Small red box fries inside and set them on the tray with rounded rectangular shape.",
+    "Transfer the smooth yellow hamburg packaging and the Handheld fries pack bright red color to the light beige smooth tray with both arms",
+    "With dual arms, move the yellow hamburg box with white accents and the Handheld fries pack bright red color onto the beige tray.",
+    "Grab the bright yellow hamburg box with logo and the Rectangular red carton holding fries, then put them on the light beige smooth tray.",
+    "Using both arms, pick the yellow hamburg box with white accents and the French fries in red packaging and drop them on the smooth light beige plastic tray.",
+    "Move the medium-sized box with hamburg design and the Golden fries sticks in red carton onto the medium rectangular flat tray with both arms.",
+    "Place both the medium-sized yellow hamburg package and the Palm-sized red fries container on the flat tray with rounded corners after grabbing them with both arms.",
+    "Place the smooth yellow hamburg packaging and the Open-top red box filled with fries on the plastic tray for carrying items after picking them up.",
+    "Pick the white lid with yellow bottom hamburg box and the Light yellow fries in red holder, and set them on the plastic tray for carrying items.",
+    "Use both arms to move the yellow box for hamburg and the French fries in red packaging to the plastic tray for carrying items.",
+    "Grab the foldable hamburg cardboard box with one arm and the Handheld fries pack bright red color with the other for the tray for holding items.",
+    "Pick the yellow hamburg box with white accents, the Small red box fries inside, and place them on the tray for holding items using both arms.",
+    "Using dual arms, move the yellow box for hamburg and the Palm-sized red fries container onto the plastic tray for carrying items.",
+    "Using both arms, set the white and yellow printed hamburg holder and the Light yellow fries in red holder onto the rectangular beige tray for objects.",
+    "Take the rectangular hamburg box and the Golden fries sticks in red carton to the smooth rectangular tray and set them there.",
+    "Pick up the smooth yellow hamburg packaging and the Golden fries crispy red package container, then put them on the beige tray",
+    "Grab the white and yellow printed hamburg holder and the Open-top red box filled with fries and position them on the flat tray with rounded corners.",
+    "Take the yellow box for hamburg, take the Red fries box, and place them onto the tray with smooth plastic surface.",
+    "Grab the hamburg box with foldable top and the Small red box fries inside, use both arms to set on the flat tray with rounded corners.",
+    "Move the hamburg box with foldable top and the Open-top red box filled with fries to the plastic tray for carrying items using both arms.",
+    "Pick the white and yellow printed hamburg holder, then the Rectangular red carton holding fries, and place them on the smooth light beige plastic tray.",
+    "Pick up the yellow box for hamburg, grab the Light yellow fries in red holder, place them on the light beige smooth tray",
+    "Place the rectangular hamburg box and the Bright red box with fries inside together onto the light beige smooth tray.",
+    "Use dual arms to move the bright yellow hamburg box with logo and the Bright red box with fries inside onto the smooth rectangular tray",
+    "Set the yellow hamburg box with white accents and the Golden fries crispy red package container on the tray with rounded rectangular shape using two arms.",
+    "Use both arms to transfer the white and yellow printed hamburg holder and the Handheld fries pack bright red color to the plastic tray for carrying items.",
+    "With two arms, pick the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton for the tray with smooth plastic surface.",
+    "Lift the smooth yellow hamburg packaging and the Rectangular red carton holding fries and position them on the medium beige tray with flat base.",
+    "Lift the smooth yellow hamburg packaging and the French fries in red packaging, position them on the medium rectangular flat tray",
+    "Move the yellow hamburg box and the Golden fries sticks in red carton with dual arms to the tray with smooth plastic surface.",
+    "Use dual arms to place the medium-sized box with hamburg design and the Golden fries crispy red package container onto the smooth rectangular tray",
+    "Set the foldable hamburg cardboard box and the Rectangular red carton holding fries down on the tray for holding items after picking them.",
+    "Pick up the foldable hamburg cardboard box, then the Rectangular red carton holding fries, and place them onto the smooth light beige plastic tray.",
+    "Take the medium-sized yellow hamburg package and the Rectangular red carton holding fries, place them onto the tray with rounded rectangular shape.",
+    "Position the medium-sized box with hamburg design and the Golden fries crispy red package container on the rectangular beige tray for objects with both arms.",
+    "Take the white lid with yellow bottom hamburg box and the Open-top red box filled with fries with both arms and set on the smooth light beige plastic tray.",
+    "Grab the yellow box for hamburg, pick the Open-top red box filled with fries, then set them on the flat tray with rounded corners",
+    "Using both arms, grab the bright yellow hamburg box with logo and the Light yellow fries in red holder for the flat tray with rounded corners.",
+    "Pick up the white lid with yellow bottom hamburg box and the Potato fries packaged in red carton, then put both on the tray with rounded rectangular shape.",
+    "Use both arms to move the yellow hamburg box with white accents and the Rectangular red carton holding fries to the beige tray.",
+    "Pick up the foldable hamburg cardboard box and the French fries in red packaging one by one and place on the light beige smooth tray.",
+    "Put the medium-sized box with hamburg design and the Palm-sized red fries container on the tray for holding items using both arms"
+  ],
+  "unseen": [
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Place the cardboard hamburg container and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg pack with printed details and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box and place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Use both arms to place the cardboard hamburg container and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Grab the cardboard hamburg container and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Pick the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Pick up the hamburg pack with printed details and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Red carton box fries crispy golden and set them on the rectangular beige tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the beige tray with soft edges.",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Grab the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Use both arms to grab the cardboard hamburg container and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Crispy potato fries with red box on the beige tray with soft edges.",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box, then set them on the medium beige plastic tray",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Pick the cardboard hamburg container and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Use both arms to grab the cardboard hamburg container and the Red carton box fries crispy golden and set them on the rectangular beige tray.",
+    "Use both arms to place the hamburg pack with printed details and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Grab the cardboard hamburg container and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Place the rectangular cardboard box for hamburg and the Golden fries in red carton box onto the rectangular beige tray.",
+    "Pick the cardboard hamburg container and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium beige plastic tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, place them on the beige tray with soft edges.",
+    "Use both arms to grab the cardboard hamburg container and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Use both arms to place the cardboard hamburg container and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Grab the hamburg pack with printed details and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Place the cardboard hamburg container and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the beige tray with soft edges",
+    "Pick up the rectangular cardboard box for hamburg and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Pick up the cardboard hamburg container and the Red carton box fries crispy golden and place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, place them on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Grab the hamburg pack with printed details and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the Crispy potato fries with red box, then place them on the beige tray with soft edges.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg container and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Use both arms to grab the rectangular cardboard box for hamburg and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg pack with printed details and the Red carton box fries crispy golden on the rectangular beige tray.",
+    "Grab the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Grab the rectangular cardboard box for hamburg and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Place the hamburg pack with printed details and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Pick the cardboard hamburg container and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick up the rectangular cardboard box for hamburg and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Pick up the rectangular cardboard box for hamburg and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the hamburg pack with printed details and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Use both arms to grab the hamburg pack with printed details and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Use both arms to place the rectangular cardboard box for hamburg and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Grab the hamburg pack with printed details and the Golden fries in red carton box, then set them on the beige tray with soft edges",
+    "Grab the cardboard hamburg container and the Crispy potato fries with red box together, setting them on the rectangular beige tray.",
+    "Place the rectangular cardboard box for hamburg and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Pick the rectangular cardboard box for hamburg and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg container and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg pack with printed details and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Pick up the hamburg pack with printed details and the Red carton box fries crispy golden and place them on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001107.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the white part with orange edges hamburg and the rectangular red fries packet to the medium beige tray with flat base with both arms",
+    "Position the small rounded hamburg and the McDonald's fries bag on the flat tray with rounded corners with both arms.",
+    "Place the orange-white hamburg with yellow highlight and the red box with golden sticks together onto the smooth light beige plastic tray.",
+    "Transfer the white part with orange edges hamburg and the red box with golden sticks to the medium beige tray with flat base with both arms",
+    "Use both arms to transfer the orange hamburg with white underside and the red container with yellow fries to the rectangular beige tray for objects.",
+    "Grab the decorative rounded hamburg and the red fries packet and position them on the tray with rounded rectangular shape.",
+    "Using dual arms, lift the smooth orange and white hamburg and the golden fries in red packaging and drop them on the smooth light beige plastic tray.",
+    "Set the yellow marked white and orange hamburg and the golden fries in red packaging on the smooth light beige plastic tray using two arms.",
+    "Take the rounded hamburg with painted details and the bright red fries holder, place them onto the tray with smooth plastic surface.",
+    "Place the hamburg with yellow mark and the red fries packet onto the rectangular beige tray for objects using dual arms",
+    "Lift the hamburg with yellow mark, lift the bright red fries holder, then set both on the smooth light beige plastic tray.",
+    "Set the orange hamburg and the red box with golden sticks down on the smooth light beige plastic tray after picking them.",
+    "With dual arms, move the orange hamburg with white underside and the thin crispy potato fries onto the medium rectangular flat tray.",
+    "Grab the rounded hamburg with painted details, grab the red fries packet, and set both onto the tray with smooth plastic surface.",
+    "Move the smooth orange and white hamburg and the rectangular red fries packet onto the beige tray with both arms.",
+    "Place the white part with orange edges hamburg and the golden fries in smooth red pouch on the light beige smooth tray after picking them up.",
+    "Using both arms, set the yellow marked white and orange hamburg and the golden fries in smooth red pouch onto the tray with rounded rectangular shape.",
+    "Pick the hamburg with yellow mark and the red container with yellow fries, and set them on the light beige smooth tray.",
+    "Pick up the orange hamburg with white underside and the red box with golden sticks one by one and place on the smooth light beige plastic tray.",
+    "Lift the hamburg with yellow mark and the rectangular red fries packet, position them on the flat tray with rounded corners",
+    "Pick up the orange-white hamburg with yellow highlight and the McDonald's fries bag, then put both on the medium beige tray with flat base.",
+    "Place both the rounded hamburg with painted details and the rectangular red fries packet on the rectangular beige tray for objects after grabbing them with both arms.",
+    "Move the yellow marked white and orange hamburg and the rectangular red fries packet to the tray with smooth plastic surface using both arms.",
+    "Lift the hamburg with yellow mark and the thin crispy potato fries, placing them neatly on the beige tray.",
+    "Grab the rounded hamburg with painted details, then the small red fries packet, and set them on the tray with rounded rectangular shape.",
+    "Take the decorative rounded hamburg and the golden fries in red packaging with both arms and set on the tray for holding items.",
+    "Use dual arms to grab the small rounded hamburg and the rectangular red fries packet and set them on the medium rectangular flat tray.",
+    "Move the irregular shaped hamburg and the red box with golden sticks with dual arms to the tray with rounded rectangular shape.",
+    "Grab the white part with orange edges hamburg and the rectangular red fries packet, use both arms to set on the medium beige tray with flat base.",
+    "Using both arms, grab the smooth orange and white hamburg and the small red fries packet for the medium rectangular flat tray.",
+    "Using both arms, pick the white part with orange edges hamburg and the bright red fries holder and drop them on the rectangular beige tray for objects.",
+    "Grab the orange-white hamburg with yellow highlight with one arm and the golden fries in smooth red pouch with the other for the flat tray with rounded corners.",
+    "Take the irregular shaped hamburg, take the McDonald's fries bag, and place them onto the flat tray with rounded corners.",
+    "Pick up the orange hamburg with white underside, grab the red fries packet, place them on the rectangular beige tray for objects",
+    "Pick the smooth orange and white hamburg, then the small red fries packet, and place them on the rectangular beige tray for objects.",
+    "Place the orange hamburg and the McDonald's fries bag onto the tray with rounded rectangular shape after picking them up.",
+    "Pick up the small rounded hamburg and the small red fries packet, then put them on the tray for holding items",
+    "Put the smooth orange and white hamburg and the McDonald's fries bag on the beige tray using both arms",
+    "Grab the hamburg with yellow mark, pick the small red fries packet, then set them on the medium beige tray with flat base",
+    "Use both arms to move the smooth orange and white hamburg and the golden fries in red packaging to the smooth rectangular tray.",
+    "Lift the orange-white hamburg with yellow highlight and the small red fries packet and position them on the plastic tray for carrying items.",
+    "Use both arms to move the hand-sized orange hamburg and the thin crispy potato fries to the rectangular beige tray for objects.",
+    "With two arms, pick the hamburg with yellow mark and the golden fries in smooth red pouch for the beige tray.",
+    "Use dual arms to place the irregular shaped hamburg and the red fries packet onto the light beige smooth tray",
+    "Using dual arms, move the orange-white hamburg with yellow highlight and the McDonald's fries bag onto the tray for holding items.",
+    "Grab the yellow marked white and orange hamburg and the bright red fries holder, then put them on the rectangular beige tray for objects.",
+    "Pick the orange hamburg, the small red fries packet, and place them on the tray with smooth plastic surface using both arms.",
+    "Take the small rounded hamburg and the bright red fries holder to the medium beige tray with flat base and set them there.",
+    "Use dual arms to move the decorative rounded hamburg and the rectangular red fries packet onto the smooth light beige plastic tray",
+    "Pick up the yellow marked white and orange hamburg, then the red fries packet, and place them onto the beige tray.",
+    "Move the small rounded hamburg and the golden fries in smooth red pouch to the medium rectangular flat tray with both arms",
+    "Position the orange hamburg with white underside and the McDonald's fries bag on the flat tray with rounded corners with both arms.",
+    "Place the rounded hamburg with painted details and the golden fries in red packaging together onto the light beige smooth tray.",
+    "Transfer the orange-white hamburg with yellow highlight and the bright red fries holder to the light beige smooth tray with both arms",
+    "Use both arms to transfer the decorative rounded hamburg and the red container with yellow fries to the medium beige tray with flat base.",
+    "Grab the white part with orange edges hamburg and the red box with golden sticks and position them on the light beige smooth tray.",
+    "Using dual arms, lift the rounded hamburg with painted details and the bright red fries holder and drop them on the tray with smooth plastic surface.",
+    "Set the rounded hamburg with painted details and the red box with golden sticks on the tray with smooth plastic surface using two arms.",
+    "Take the orange hamburg and the McDonald's fries bag, place them onto the beige tray.",
+    "Place the hamburg with yellow mark and the red fries packet onto the medium rectangular flat tray using dual arms",
+    "Lift the orange-white hamburg with yellow highlight, lift the small red fries packet, then set both on the medium rectangular flat tray.",
+    "Set the smooth orange and white hamburg and the crispy fries in hand-sized pouch down on the rectangular beige tray for objects after picking them.",
+    "With dual arms, move the orange hamburg with white underside and the golden fries in red packaging onto the light beige smooth tray.",
+    "Grab the white part with orange edges hamburg, grab the McDonald's fries bag, and set both onto the light beige smooth tray.",
+    "Move the small rounded hamburg and the red fries packet onto the plastic tray for carrying items with both arms.",
+    "Place the hand-sized orange hamburg and the golden fries in red packaging on the tray with smooth plastic surface after picking them up.",
+    "Using both arms, set the smooth orange and white hamburg and the golden fries in red packaging onto the smooth light beige plastic tray.",
+    "Pick the decorative rounded hamburg and the rectangular red fries packet, and set them on the tray with smooth plastic surface.",
+    "Pick up the hamburg with yellow mark and the small red fries packet one by one and place on the light beige smooth tray.",
+    "Lift the orange-white hamburg with yellow highlight and the bright red fries holder, position them on the medium rectangular flat tray",
+    "Pick up the yellow marked white and orange hamburg and the red box with golden sticks, then put both on the tray with rounded rectangular shape.",
+    "Place both the hand-sized orange hamburg and the golden fries in smooth red pouch on the rectangular beige tray for objects after grabbing them with both arms.",
+    "Move the orange hamburg with white underside and the golden fries in smooth red pouch to the medium beige tray with flat base using both arms.",
+    "Lift the small rounded hamburg and the red box with golden sticks, placing them neatly on the plastic tray for carrying items.",
+    "Grab the orange hamburg with white underside, then the small red fries packet, and set them on the smooth rectangular tray.",
+    "Take the orange hamburg with white underside and the red box with golden sticks with both arms and set on the medium beige tray with flat base.",
+    "Use dual arms to grab the orange-white hamburg with yellow highlight and the red box with golden sticks and set them on the rectangular beige tray for objects.",
+    "Move the orange hamburg and the red container with yellow fries with dual arms to the beige tray.",
+    "Grab the orange hamburg and the small red fries packet, use both arms to set on the medium rectangular flat tray.",
+    "Using both arms, grab the orange hamburg with white underside and the red fries packet for the tray for holding items.",
+    "Using both arms, pick the hand-sized orange hamburg and the McDonald's logo on red fries box and drop them on the tray with rounded rectangular shape.",
+    "Grab the rounded hamburg with painted details with one arm and the rectangular red fries packet with the other for the smooth rectangular tray.",
+    "Take the orange hamburg, take the red box with golden sticks, and place them onto the tray with smooth plastic surface.",
+    "Pick up the yellow marked white and orange hamburg, grab the red fries packet, place them on the tray for holding items",
+    "Pick the rounded hamburg with painted details, then the red box with golden sticks, and place them on the tray with rounded rectangular shape.",
+    "Place the decorative rounded hamburg and the crispy fries in hand-sized pouch onto the beige tray after picking them up.",
+    "Pick up the smooth orange and white hamburg and the thin crispy potato fries, then put them on the medium beige tray with flat base",
+    "Put the rounded hamburg with painted details and the bright red fries holder on the smooth rectangular tray using both arms",
+    "Grab the hand-sized orange hamburg, pick the McDonald's logo on red fries box, then set them on the smooth rectangular tray",
+    "Use both arms to move the irregular shaped hamburg and the rectangular red fries packet to the medium beige tray with flat base.",
+    "Lift the rounded hamburg with painted details and the McDonald's logo on red fries box and position them on the rectangular beige tray for objects.",
+    "Use both arms to move the small rounded hamburg and the thin crispy potato fries to the medium beige tray with flat base.",
+    "With two arms, pick the hand-sized orange hamburg and the red container with yellow fries for the light beige smooth tray.",
+    "Use dual arms to place the hamburg with yellow mark and the small red fries packet onto the tray with smooth plastic surface",
+    "Using dual arms, move the hand-sized orange hamburg and the red container with yellow fries onto the beige tray.",
+    "Grab the orange hamburg and the small red fries packet, then put them on the tray for holding items.",
+    "Pick the hamburg with yellow mark, the small red fries packet, and place them on the medium rectangular flat tray using both arms.",
+    "Take the orange hamburg and the McDonald's logo on red fries box to the light beige smooth tray and set them there.",
+    "Use dual arms to move the yellow marked white and orange hamburg and the bright red fries holder onto the rectangular beige tray for objects",
+    "Pick up the orange hamburg, then the bright red fries holder, and place them onto the smooth rectangular tray."
+  ],
+  "unseen": [
+    "Pick up the hamburg with white and orange and the golden fries in red holder and place them on the beige tray with soft edges.",
+    "Place the hamburg with white and orange and the golden fries in red holder onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with soft texture and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box, then place on the beige tray with soft edges.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with soft texture and the hand-sized fries container on the rectangular beige tray.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, place them on the rectangular beige tray.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Pick up the hamburg with white and orange and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Place the hamburg with soft texture and the golden crispy fries inside red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden fries in red holder and set them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Grab the hamburg with soft texture and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with curved surfaces and the hand-sized fries container on the rectangular beige tray.",
+    "Grab the hamburg with white and orange and the hand-sized fries container, then set them on the rectangular beige tray",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Pick the hamburg with soft texture and the golden crispy fries inside red box, then place them on the beige tray with soft edges.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box and place them on the medium beige plastic tray.",
+    "Place the hamburg with white and orange and the hand-sized fries container onto the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with white and orange and the golden fries in red holder, then place on the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with soft texture and the golden crispy fries inside red box on the rectangular beige tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container together, then drop on the rectangular beige tray",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box and place them on the beige tray with soft edges.",
+    "Place the hamburg with curved surfaces and the hand-sized fries container onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden fries in red holder and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with white and orange and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the hamburg with soft texture and the hand-sized fries container, then set them on the medium beige plastic tray",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick the hamburg with soft texture and the golden fries in red holder, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box and place them on the beige tray with soft edges.",
+    "Place the hamburg with white and orange and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the rectangular beige tray.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with soft texture and the golden fries in red holder on the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container, then set them on the medium beige plastic tray",
+    "Pick the hamburg with curved surfaces and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder and place them on the medium beige plastic tray.",
+    "Place the hamburg with white and orange and the hand-sized fries container onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the golden fries in red holder and set them on the rectangular beige tray.",
+    "Pick up the hamburg with curved surfaces and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Grab the hamburg with soft texture and the hand-sized fries container together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the hamburg with white and orange and the hand-sized fries container on the medium beige plastic tray.",
+    "Grab the hamburg with soft texture and the golden fries in red holder, then set them on the beige tray with soft edges",
+    "Pick the hamburg with curved surfaces and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick the hamburg with soft texture and the hand-sized fries container, then place them on the rectangular beige tray.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with soft texture and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Place the hamburg with soft texture and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the hand-sized fries container together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with curved surfaces and the golden fries in red holder on the rectangular beige tray.",
+    "Grab the hamburg with white and orange and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick the hamburg with white and orange and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick the hamburg with curved surfaces and the hand-sized fries container, then place them on the beige tray with soft edges.",
+    "Pick up the hamburg with soft texture and the hand-sized fries container together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box and place them on the beige tray with soft edges.",
+    "Place the hamburg with soft texture and the golden crispy fries inside red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with curved surfaces and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Grab the hamburg with soft texture and the golden fries in red holder together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with white and orange and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Grab the hamburg with curved surfaces and the golden crispy fries inside red box, then set them on the rectangular beige tray",
+    "Pick the hamburg with white and orange and the golden crispy fries inside red box, place them on the beige tray with soft edges.",
+    "Pick the hamburg with curved surfaces and the golden crispy fries inside red box, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with curved surfaces and the golden fries in red holder together, then drop on the medium beige plastic tray",
+    "Pick up the hamburg with white and orange and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Place the hamburg with soft texture and the golden fries in red holder onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with white and orange and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with curved surfaces and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Grab the hamburg with white and orange and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with white and orange and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick the hamburg with curved surfaces and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, then place them on the beige tray with soft edges.",
+    "Pick up the hamburg with soft texture and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Pick up the hamburg with white and orange and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Place the hamburg with soft texture and the hand-sized fries container onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with white and orange and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Grab the hamburg with curved surfaces and the golden fries in red holder together, setting them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with curved surfaces and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the hamburg with soft texture and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Pick the hamburg with curved surfaces and the golden fries in red holder, place them on the beige tray with soft edges.",
+    "Pick the hamburg with soft texture and the golden fries in red holder, then place them on the medium beige plastic tray.",
+    "Pick up the hamburg with soft texture and the golden crispy fries inside red box together, then drop on the rectangular beige tray"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001109.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use both arms to move the easy-to-carry hamburg box and the thin crispy potato fries to the rectangular beige tray for objects.",
+    "Move the hamburg box with rounded edges and the golden fries in smooth red pouch to the light beige smooth tray using both arms.",
+    "Set the green and yellow hamburg container and the McDonald's fries bag down on the smooth rectangular tray after picking them.",
+    "Pick up the yellow and green hamburg holder, grab the red fries packet, place them on the flat tray with rounded corners",
+    "Use both arms to move the yellow and green hamburg holder and the golden fries in smooth red pouch to the plastic tray for carrying items.",
+    "Put the smooth hamburg box and the bright red fries holder on the smooth rectangular tray using both arms",
+    "Move the easy-to-carry hamburg box and the red box with golden sticks onto the light beige smooth tray with both arms.",
+    "Pick the box with green hamburg lid, the bright red fries holder, and place them on the flat tray with rounded corners using both arms.",
+    "With two arms, pick the hamburg box with lid and the small red fries packet for the plastic tray for carrying items.",
+    "Use dual arms to move the rectangular hamburg container with smooth finish and the red fries packet onto the medium beige tray with flat base",
+    "Move the green top hamburg box and the thin crispy potato fries with dual arms to the tray with smooth plastic surface.",
+    "Take the yellow bottom hamburg box and the bright red fries holder to the smooth light beige plastic tray and set them there.",
+    "Grab the yellow bottom hamburg box with one arm and the golden fries in red packaging with the other for the medium beige tray with flat base.",
+    "Place the hamburg box with rounded edges and the red container with yellow fries onto the medium rectangular flat tray using dual arms",
+    "Pick up the yellow and green hamburg holder and the crispy fries in hand-sized pouch, then put both on the flat tray with rounded corners.",
+    "Using both arms, set the easy-to-carry hamburg box and the red box with golden sticks onto the tray with rounded rectangular shape.",
+    "Grab the rectangular hamburg box, grab the crispy fries in hand-sized pouch, and set both onto the tray with rounded rectangular shape.",
+    "Place the yellow bottom hamburg box and the golden fries in red packaging onto the medium rectangular flat tray after picking them up.",
+    "Grab the yellow bottom hamburg box and the red fries packet, then put them on the tray for holding items.",
+    "Grab the rectangular hamburg container with smooth finish, pick the rectangular red fries packet, then set them on the tray with smooth plastic surface",
+    "Using dual arms, move the smooth hamburg box and the golden fries in smooth red pouch onto the medium rectangular flat tray.",
+    "Using both arms, grab the green top hamburg box and the small red fries packet for the light beige smooth tray.",
+    "Use both arms to transfer the smooth hamburg box and the red fries packet to the plastic tray for carrying items.",
+    "Move the easy-to-carry hamburg box and the rectangular red fries packet to the medium rectangular flat tray with both arms",
+    "Using dual arms, lift the smooth hamburg box and the red container with yellow fries and drop them on the medium rectangular flat tray.",
+    "Pick up the yellow bottom hamburg box and the crispy fries in hand-sized pouch, then put them on the plastic tray for carrying items",
+    "Place the hamburg box with lid and the red container with yellow fries on the rectangular beige tray for objects after picking them up.",
+    "Lift the green top hamburg box and the thin crispy potato fries, placing them neatly on the smooth light beige plastic tray.",
+    "Pick the box with green hamburg lid, then the red box with golden sticks, and place them on the smooth light beige plastic tray.",
+    "Lift the rectangular hamburg container with smooth finish, lift the McDonald's fries bag, then set both on the tray with rounded rectangular shape.",
+    "Pick up the smooth hamburg box, then the red container with yellow fries, and place them onto the flat tray with rounded corners.",
+    "Position the hamburg box with rounded edges and the rectangular red fries packet on the medium rectangular flat tray with both arms.",
+    "Use dual arms to place the hamburg box with lid and the red container with yellow fries onto the tray for holding items",
+    "Transfer the box with green hamburg lid and the red box with golden sticks to the tray with rounded rectangular shape with both arms",
+    "Take the box with green hamburg lid and the crispy fries in hand-sized pouch with both arms and set on the plastic tray for carrying items.",
+    "Lift the easy-to-carry hamburg box and the red container with yellow fries, position them on the tray for holding items",
+    "Pick the hamburg box with lid and the bright red fries holder, and set them on the plastic tray for carrying items.",
+    "Grab the small hamburg box and the small red fries packet, use both arms to set on the plastic tray for carrying items.",
+    "Grab the easy-to-carry hamburg box and the bright red fries holder and position them on the rectangular beige tray for objects.",
+    "Place both the yellow and green hamburg holder and the crispy fries in hand-sized pouch on the flat tray with rounded corners after grabbing them with both arms.",
+    "Lift the smooth hamburg box and the McDonald's logo on red fries box and position them on the medium rectangular flat tray.",
+    "Pick up the green and yellow hamburg container and the McDonald's fries bag one by one and place on the tray with smooth plastic surface.",
+    "Set the green and yellow hamburg container and the thin crispy potato fries on the light beige smooth tray using two arms.",
+    "Using both arms, pick the rectangular hamburg box and the red fries packet and drop them on the tray for holding items.",
+    "Grab the yellow and green hamburg holder, then the golden fries in smooth red pouch, and set them on the tray with rounded rectangular shape.",
+    "Take the green and yellow hamburg container, take the rectangular red fries packet, and place them onto the tray with smooth plastic surface.",
+    "Place the green top hamburg box and the bright red fries holder together onto the tray for holding items.",
+    "With dual arms, move the easy-to-carry hamburg box and the crispy fries in hand-sized pouch onto the rectangular beige tray for objects.",
+    "Use dual arms to grab the yellow bottom hamburg box and the thin crispy potato fries and set them on the tray for holding items.",
+    "Take the smooth hamburg box and the golden fries in smooth red pouch, place them onto the tray for holding items.",
+    "Use both arms to move the yellow and green hamburg holder and the thin crispy potato fries to the tray with smooth plastic surface.",
+    "Move the box with green hamburg lid and the golden fries in smooth red pouch to the flat tray with rounded corners using both arms.",
+    "Set the hamburg box with lid and the red fries packet down on the rectangular beige tray for objects after picking them.",
+    "Pick up the box with green hamburg lid, grab the McDonald's logo on red fries box, place them on the tray with rounded rectangular shape",
+    "Use both arms to move the smooth hamburg box and the red fries packet to the plastic tray for carrying items.",
+    "Put the rectangular hamburg box and the crispy fries in hand-sized pouch on the medium rectangular flat tray using both arms",
+    "Move the smooth hamburg box and the red container with yellow fries onto the flat tray with rounded corners with both arms.",
+    "Pick the easy-to-carry hamburg box, the red box with golden sticks, and place them on the rectangular beige tray for objects using both arms.",
+    "With two arms, pick the smooth hamburg box and the McDonald's logo on red fries box for the tray with rounded rectangular shape.",
+    "Use dual arms to move the rectangular hamburg box and the golden fries in smooth red pouch onto the plastic tray for carrying items",
+    "Move the yellow bottom hamburg box and the rectangular red fries packet with dual arms to the flat tray with rounded corners.",
+    "Take the rectangular hamburg container with smooth finish and the bright red fries holder to the smooth rectangular tray and set them there.",
+    "Grab the rectangular hamburg container with smooth finish with one arm and the red fries packet with the other for the medium beige tray with flat base.",
+    "Place the rectangular hamburg box and the McDonald's logo on red fries box onto the tray for holding items using dual arms",
+    "Pick up the green and yellow hamburg container and the crispy fries in hand-sized pouch, then put both on the flat tray with rounded corners.",
+    "Using both arms, set the yellow bottom hamburg box and the thin crispy potato fries onto the medium rectangular flat tray.",
+    "Grab the yellow bottom hamburg box, grab the red box with golden sticks, and set both onto the tray for holding items.",
+    "Place the small hamburg box and the red container with yellow fries onto the light beige smooth tray after picking them up.",
+    "Grab the hamburg box with rounded edges and the McDonald's fries bag, then put them on the smooth rectangular tray.",
+    "Grab the small hamburg box, pick the thin crispy potato fries, then set them on the tray with rounded rectangular shape",
+    "Using dual arms, move the rectangular hamburg container with smooth finish and the golden fries in smooth red pouch onto the medium rectangular flat tray.",
+    "Using both arms, grab the yellow and green hamburg holder and the crispy fries in hand-sized pouch for the medium beige tray with flat base.",
+    "Use both arms to transfer the hamburg box with rounded edges and the red box with golden sticks to the rectangular beige tray for objects.",
+    "Move the easy-to-carry hamburg box and the red box with golden sticks to the medium rectangular flat tray with both arms",
+    "Using dual arms, lift the yellow bottom hamburg box and the rectangular red fries packet and drop them on the smooth rectangular tray.",
+    "Pick up the yellow bottom hamburg box and the red box with golden sticks, then put them on the tray with rounded rectangular shape",
+    "Place the small hamburg box and the golden fries in smooth red pouch on the tray for holding items after picking them up.",
+    "Lift the green top hamburg box and the small red fries packet, placing them neatly on the tray with rounded rectangular shape.",
+    "Pick the green and yellow hamburg container, then the crispy fries in hand-sized pouch, and place them on the beige tray.",
+    "Lift the rectangular hamburg container with smooth finish, lift the bright red fries holder, then set both on the smooth rectangular tray.",
+    "Pick up the smooth hamburg box, then the small red fries packet, and place them onto the tray for holding items.",
+    "Position the green top hamburg box and the McDonald's fries bag on the smooth rectangular tray with both arms.",
+    "Use dual arms to place the green and yellow hamburg container and the red fries packet onto the tray with rounded rectangular shape",
+    "Transfer the yellow and green hamburg holder and the red box with golden sticks to the smooth rectangular tray with both arms",
+    "Take the small hamburg box and the golden fries in smooth red pouch with both arms and set on the rectangular beige tray for objects.",
+    "Lift the hamburg box with lid and the golden fries in red packaging, position them on the medium beige tray with flat base",
+    "Pick the small hamburg box and the small red fries packet, and set them on the flat tray with rounded corners.",
+    "Grab the hamburg box with lid and the red fries packet, use both arms to set on the beige tray.",
+    "Grab the green top hamburg box and the crispy fries in hand-sized pouch and position them on the tray with smooth plastic surface.",
+    "Place both the green top hamburg box and the thin crispy potato fries on the medium beige tray with flat base after grabbing them with both arms.",
+    "Lift the rectangular hamburg container with smooth finish and the red fries packet and position them on the smooth rectangular tray.",
+    "Pick up the rectangular hamburg box and the bright red fries holder one by one and place on the medium rectangular flat tray.",
+    "Set the green and yellow hamburg container and the McDonald's fries bag on the smooth light beige plastic tray using two arms.",
+    "Using both arms, pick the small hamburg box and the red box with golden sticks and drop them on the flat tray with rounded corners.",
+    "Grab the yellow and green hamburg holder, then the McDonald's logo on red fries box, and set them on the tray with rounded rectangular shape.",
+    "Take the rectangular hamburg box, take the McDonald's fries bag, and place them onto the tray with smooth plastic surface.",
+    "Place the green and yellow hamburg container and the golden fries in smooth red pouch together onto the tray for holding items.",
+    "With dual arms, move the box with green hamburg lid and the golden fries in smooth red pouch onto the rectangular beige tray for objects.",
+    "Use dual arms to grab the yellow bottom hamburg box and the McDonald's fries bag and set them on the rectangular beige tray for objects.",
+    "Take the box with green hamburg lid and the McDonald's fries bag, place them onto the tray for holding items."
+  ],
+  "unseen": [
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the stackable hamburg box and the hand-sized fries container on the medium beige plastic tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container, then set them on the medium beige plastic tray",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium beige plastic tray",
+    "Place the compact hamburg box and the golden fries in red holder onto the rectangular beige tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the beige tray with soft edges.",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the beige tray with soft edges.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the rectangular beige tray.",
+    "Pick up the compact hamburg box and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the rectangular beige tray",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the rectangular beige tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the medium beige plastic tray",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the rectangular beige tray.",
+    "Use both arms to grab the compact hamburg box and the golden fries in red holder and set them on the beige tray with soft edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the rectangular beige tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Grab the compact hamburg box and the hand-sized fries container together, setting them on the rectangular beige tray.",
+    "Use both arms to place the cardboard hamburg box and the hand-sized fries container on the beige tray with soft edges.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container together, then drop on the beige tray with soft edges",
+    "Place the cardboard hamburg box and the golden fries in red holder onto the medium beige plastic tray.",
+    "Pick the compact hamburg box and the golden fries in red holder, then place them on the rectangular beige tray.",
+    "Use both arms to grab the compact hamburg box and the golden crispy fries inside red box and set them on the beige tray with soft edges.",
+    "Pick up the compact hamburg box and the hand-sized fries container, then place on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the medium beige plastic tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the beige tray with soft edges.",
+    "Grab the compact hamburg box and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick the compact hamburg box and the golden crispy fries inside red box, place them on the rectangular beige tray.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the beige tray with soft edges",
+    "Place the compact hamburg box and the golden fries in red holder onto the medium beige plastic tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Use both arms to grab the stackable hamburg box and the golden fries in red holder and set them on the rectangular beige tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg box and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder together, setting them on the rectangular beige tray.",
+    "Use both arms to place the stackable hamburg box and the golden fries in red holder on the beige tray with soft edges.",
+    "Grab the compact hamburg box and the hand-sized fries container, then set them on the beige tray with soft edges",
+    "Pick the stackable hamburg box and the hand-sized fries container, place them on the beige tray with soft edges.",
+    "Pick up the compact hamburg box and the golden crispy fries inside red box together, then drop on the medium beige plastic tray",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Use both arms to grab the stackable hamburg box and the hand-sized fries container and set them on the rectangular beige tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Grab the cardboard hamburg box and the golden fries in red holder together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the compact hamburg box and the golden crispy fries inside red box, then set them on the beige tray with soft edges",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box together, then drop on the medium beige plastic tray",
+    "Place the cardboard hamburg box and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the medium beige plastic tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the medium beige plastic tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container, then place on the medium beige plastic tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the medium beige plastic tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the rectangular beige tray.",
+    "Grab the stackable hamburg box and the hand-sized fries container, then set them on the rectangular beige tray",
+    "Pick the cardboard hamburg box and the golden crispy fries inside red box, place them on the beige tray with soft edges.",
+    "Pick up the compact hamburg box and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Place the compact hamburg box and the hand-sized fries container onto the medium beige plastic tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the medium beige plastic tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the rectangular beige tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box, then place on the rectangular beige tray.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the rectangular beige tray.",
+    "Grab the stackable hamburg box and the golden crispy fries inside red box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the compact hamburg box and the golden fries in red holder on the medium beige plastic tray.",
+    "Grab the stackable hamburg box and the golden fries in red holder, then set them on the rectangular beige tray",
+    "Pick the cardboard hamburg box and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Place the compact hamburg box and the golden fries in red holder onto the rectangular beige tray.",
+    "Pick the compact hamburg box and the hand-sized fries container, then place them on the beige tray with soft edges.",
+    "Use both arms to grab the stackable hamburg box and the golden crispy fries inside red box and set them on the medium beige plastic tray.",
+    "Pick up the stackable hamburg box and the hand-sized fries container, then place on the beige tray with soft edges.",
+    "Pick up the cardboard hamburg box and the hand-sized fries container and place them on the beige tray with soft edges.",
+    "Grab the compact hamburg box and the golden fries in red holder together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the cardboard hamburg box and the golden crispy fries inside red box on the rectangular beige tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box, then set them on the beige tray with soft edges",
+    "Pick the compact hamburg box and the hand-sized fries container, place them on the medium beige plastic tray.",
+    "Pick up the stackable hamburg box and the golden fries in red holder together, then drop on the beige tray with soft edges",
+    "Place the stackable hamburg box and the golden crispy fries inside red box onto the rectangular beige tray.",
+    "Pick the stackable hamburg box and the golden crispy fries inside red box, then place them on the rectangular beige tray.",
+    "Use both arms to grab the cardboard hamburg box and the golden fries in red holder and set them on the medium beige plastic tray.",
+    "Pick up the compact hamburg box and the golden fries in red holder, then place on the beige tray with soft edges.",
+    "Pick up the compact hamburg box and the golden fries in red holder and place them on the rectangular beige tray.",
+    "Grab the cardboard hamburg box and the golden crispy fries inside red box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the stackable hamburg box and the golden crispy fries inside red box on the medium beige plastic tray.",
+    "Grab the cardboard hamburg box and the hand-sized fries container, then set them on the medium beige plastic tray",
+    "Pick the cardboard hamburg box and the golden fries in red holder, place them on the beige tray with soft edges.",
+    "Pick up the stackable hamburg box and the golden crispy fries inside red box together, then drop on the rectangular beige tray",
+    "Place the compact hamburg box and the hand-sized fries container onto the rectangular beige tray.",
+    "Pick the stackable hamburg box and the hand-sized fries container, then place them on the rectangular beige tray.",
+    "Use both arms to grab the cardboard hamburg box and the hand-sized fries container and set them on the rectangular beige tray.",
+    "Pick up the cardboard hamburg box and the golden crispy fries inside red box, then place on the medium beige plastic tray."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001112.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the soft hamburg with smooth wrapper and the Potato fries packaged in red carton, then put them on the rectangular beige tray for objects",
+    "Lift the white wrapper enclosing golden hamburg and the Open-top red box filled with fries and position them on the smooth light beige plastic tray.",
+    "Using dual arms, move the hamburg with printed wrapper and the Potato fries packaged in red carton onto the rectangular beige tray for objects.",
+    "Take the small soft hamburg in paper and the Open-top red box filled with fries to the tray with rounded rectangular shape and set them there.",
+    "Place the hamburg with rounded rectangular shape and the Handheld fries pack bright red color onto the plastic tray for carrying items using dual arms",
+    "Using both arms, pick the white wrapper enclosing golden hamburg and the French fries in red packaging and drop them on the rectangular beige tray for objects.",
+    "Grab the small soft hamburg in paper and the Open-top red box filled with fries, use both arms to set on the rectangular beige tray for objects.",
+    "Position the hamburg with smooth paper wrapping and the Bright red box with fries inside on the rectangular beige tray for objects with both arms.",
+    "Grab the hamburg with printed wrapper, pick the Light yellow fries in red holder, then set them on the medium beige tray with flat base",
+    "Lift the soft hamburg with smooth wrapper and the Potato fries packaged in red carton, position them on the plastic tray for carrying items",
+    "Place the small soft hamburg in paper and the Light yellow fries in red holder on the tray for holding items after picking them up.",
+    "Move the soft hamburg with smooth wrapper and the Palm-sized red fries container onto the rectangular beige tray for objects with both arms.",
+    "Set the small soft hamburg in paper and the Red fries box down on the beige tray after picking them.",
+    "Place both the hamburg with smooth paper wrapping and the Light yellow fries in red holder on the smooth light beige plastic tray after grabbing them with both arms.",
+    "Using dual arms, lift the rectangular hamburg with rounded edges and the Rectangular red carton holding fries and drop them on the rectangular beige tray for objects.",
+    "Pick the hamburg wrapped in white paper and the Palm-sized red fries container, and set them on the rectangular beige tray for objects.",
+    "Pick up the wrapped hamburg with green design, grab the Handheld fries pack bright red color, place them on the plastic tray for carrying items",
+    "Use dual arms to move the small soft hamburg in paper and the Light yellow fries in red holder onto the flat tray with rounded corners",
+    "Pick the hamburg with smooth paper wrapping, the Light yellow fries in red holder, and place them on the smooth rectangular tray using both arms.",
+    "Use both arms to move the rectangular hamburg with rounded edges and the Golden fries sticks in red carton to the medium rectangular flat tray.",
+    "Place the easy-to-hold hamburg and the Red fries box together onto the beige tray.",
+    "Take the hamburg with printed wrapper and the Golden fries sticks in red carton with both arms and set on the plastic tray for carrying items.",
+    "Place the rectangular hamburg with rounded edges and the Rectangular red carton holding fries onto the medium rectangular flat tray after picking them up.",
+    "With dual arms, move the hand-sized hamburg and the Handheld fries pack bright red color onto the medium beige tray with flat base.",
+    "Move the small soft hamburg in paper and the Bright red box with fries inside with dual arms to the medium rectangular flat tray.",
+    "Pick up the wrapped hamburg with green design and the Bright red box with fries inside, then put both on the flat tray with rounded corners.",
+    "Pick up the golden brown and white hamburg and the Golden fries crispy red package container one by one and place on the smooth rectangular tray.",
+    "Use dual arms to grab the soft hamburg with smooth wrapper and the Golden fries crispy red package container and set them on the medium beige tray with flat base.",
+    "Move the white wrapper enclosing golden hamburg and the Rectangular red carton holding fries to the smooth light beige plastic tray with both arms",
+    "Use dual arms to place the easy-to-hold hamburg and the Potato fries packaged in red carton onto the beige tray",
+    "With two arms, pick the white wrapper enclosing golden hamburg and the Golden fries sticks in red carton for the medium rectangular flat tray.",
+    "Use both arms to move the hamburg with smooth paper wrapping and the Light yellow fries in red holder to the plastic tray for carrying items.",
+    "Pick the easy-to-hold hamburg, then the Rectangular red carton holding fries, and place them on the rectangular beige tray for objects.",
+    "Put the rectangular hamburg with rounded edges and the Palm-sized red fries container on the medium beige tray with flat base using both arms",
+    "Move the hamburg with printed wrapper and the Bright red box with fries inside to the beige tray using both arms.",
+    "Lift the rectangular hamburg with rounded edges and the Potato fries packaged in red carton, placing them neatly on the smooth light beige plastic tray.",
+    "Lift the rectangular hamburg with rounded edges, lift the Rectangular red carton holding fries, then set both on the tray with smooth plastic surface.",
+    "Transfer the wrapped hamburg with green design and the Handheld fries pack bright red color to the flat tray with rounded corners with both arms",
+    "Take the golden brown and white hamburg and the French fries in red packaging, place them onto the rectangular beige tray for objects.",
+    "Grab the hand-sized hamburg and the Golden fries crispy red package container and position them on the medium beige tray with flat base.",
+    "Grab the hamburg with printed wrapper, grab the Handheld fries pack bright red color, and set both onto the plastic tray for carrying items.",
+    "Using both arms, set the wrapped hamburg with green design and the Golden fries sticks in red carton onto the light beige smooth tray.",
+    "Set the golden brown and white hamburg and the French fries in red packaging on the beige tray using two arms.",
+    "Grab the rectangular hamburg with rounded edges, then the Rectangular red carton holding fries, and set them on the smooth light beige plastic tray.",
+    "Using both arms, grab the wrapped hamburg with green design and the Golden fries crispy red package container for the rectangular beige tray for objects.",
+    "Take the hand-sized hamburg, take the Handheld fries pack bright red color, and place them onto the beige tray.",
+    "Grab the hamburg with rounded rectangular shape and the Small red box fries inside, then put them on the light beige smooth tray.",
+    "Grab the wrapped hamburg with green design with one arm and the Light yellow fries in red holder with the other for the rectangular beige tray for objects.",
+    "Use both arms to transfer the easy-to-hold hamburg and the Red fries box to the plastic tray for carrying items.",
+    "Pick up the wrapped hamburg with green design, then the French fries in red packaging, and place them onto the tray with smooth plastic surface.",
+    "Pick up the golden brown and white hamburg and the Bright red box with fries inside, then put them on the medium rectangular flat tray",
+    "Lift the hand-sized hamburg and the Open-top red box filled with fries and position them on the rectangular beige tray for objects.",
+    "Using dual arms, move the rectangular hamburg with rounded edges and the French fries in red packaging onto the smooth rectangular tray.",
+    "Take the small soft hamburg in paper and the Palm-sized red fries container to the plastic tray for carrying items and set them there.",
+    "Place the hamburg with rounded rectangular shape and the Palm-sized red fries container onto the beige tray using dual arms",
+    "Using both arms, pick the hamburg with smooth paper wrapping and the Small red box fries inside and drop them on the tray with rounded rectangular shape.",
+    "Grab the hamburg wrapped in white paper and the Palm-sized red fries container, use both arms to set on the medium rectangular flat tray.",
+    "Position the soft hamburg with smooth wrapper and the Light yellow fries in red holder on the smooth rectangular tray with both arms.",
+    "Grab the white wrapper enclosing golden hamburg, pick the French fries in red packaging, then set them on the smooth rectangular tray",
+    "Lift the hamburg with printed wrapper and the Palm-sized red fries container, position them on the rectangular beige tray for objects",
+    "Place the golden brown and white hamburg and the Handheld fries pack bright red color on the tray for holding items after picking them up.",
+    "Move the easy-to-hold hamburg and the Potato fries packaged in red carton onto the medium beige tray with flat base with both arms.",
+    "Set the small soft hamburg in paper and the Palm-sized red fries container down on the medium beige tray with flat base after picking them.",
+    "Place both the white wrapper enclosing golden hamburg and the Open-top red box filled with fries on the smooth rectangular tray after grabbing them with both arms.",
+    "Using dual arms, lift the small soft hamburg in paper and the Bright red box with fries inside and drop them on the plastic tray for carrying items.",
+    "Pick the soft hamburg with smooth wrapper and the Golden fries sticks in red carton, and set them on the plastic tray for carrying items.",
+    "Pick up the hamburg with rounded rectangular shape, grab the Rectangular red carton holding fries, place them on the tray with rounded rectangular shape",
+    "Use dual arms to move the white wrapper enclosing golden hamburg and the Open-top red box filled with fries onto the light beige smooth tray",
+    "Pick the hamburg with smooth paper wrapping, the Light yellow fries in red holder, and place them on the smooth light beige plastic tray using both arms.",
+    "Use both arms to move the soft hamburg with smooth wrapper and the Open-top red box filled with fries to the smooth light beige plastic tray.",
+    "Place the wrapped hamburg with green design and the Potato fries packaged in red carton together onto the tray with smooth plastic surface.",
+    "Take the hamburg with rounded rectangular shape and the Potato fries packaged in red carton with both arms and set on the smooth rectangular tray.",
+    "Place the easy-to-hold hamburg and the French fries in red packaging onto the medium rectangular flat tray after picking them up.",
+    "With dual arms, move the easy-to-hold hamburg and the Open-top red box filled with fries onto the light beige smooth tray.",
+    "Move the white wrapper enclosing golden hamburg and the Light yellow fries in red holder with dual arms to the tray for holding items.",
+    "Pick up the white wrapper enclosing golden hamburg and the Palm-sized red fries container, then put both on the smooth rectangular tray.",
+    "Pick up the hand-sized hamburg and the Red fries box one by one and place on the tray with smooth plastic surface.",
+    "Use dual arms to grab the small soft hamburg in paper and the French fries in red packaging and set them on the tray with smooth plastic surface.",
+    "Move the white wrapper enclosing golden hamburg and the Handheld fries pack bright red color to the tray with smooth plastic surface with both arms",
+    "Use dual arms to place the hand-sized hamburg and the Golden fries crispy red package container onto the flat tray with rounded corners",
+    "With two arms, pick the hand-sized hamburg and the Light yellow fries in red holder for the smooth rectangular tray.",
+    "Use both arms to move the hamburg wrapped in white paper and the Golden fries sticks in red carton to the rectangular beige tray for objects.",
+    "Pick the hamburg with printed wrapper, then the French fries in red packaging, and place them on the rectangular beige tray for objects.",
+    "Put the small soft hamburg in paper and the Potato fries packaged in red carton on the light beige smooth tray using both arms",
+    "Move the hamburg with smooth paper wrapping and the Rectangular red carton holding fries to the flat tray with rounded corners using both arms.",
+    "Lift the hamburg with smooth paper wrapping and the Potato fries packaged in red carton, placing them neatly on the medium rectangular flat tray.",
+    "Lift the hamburg wrapped in white paper, lift the Red fries box, then set both on the flat tray with rounded corners.",
+    "Transfer the golden brown and white hamburg and the Red fries box to the flat tray with rounded corners with both arms",
+    "Take the hamburg with rounded rectangular shape and the Golden fries crispy red package container, place them onto the medium beige tray with flat base.",
+    "Grab the hand-sized hamburg and the Palm-sized red fries container and position them on the smooth rectangular tray.",
+    "Grab the white wrapper enclosing golden hamburg, grab the Handheld fries pack bright red color, and set both onto the flat tray with rounded corners.",
+    "Using both arms, set the hand-sized hamburg and the Red fries box onto the rectangular beige tray for objects.",
+    "Set the small soft hamburg in paper and the Red fries box on the rectangular beige tray for objects using two arms.",
+    "Grab the hamburg wrapped in white paper, then the Small red box fries inside, and set them on the flat tray with rounded corners.",
+    "Using both arms, grab the white wrapper enclosing golden hamburg and the Handheld fries pack bright red color for the plastic tray for carrying items.",
+    "Take the hamburg with smooth paper wrapping, take the Open-top red box filled with fries, and place them onto the medium beige tray with flat base.",
+    "Grab the hand-sized hamburg and the Small red box fries inside, then put them on the tray with rounded rectangular shape.",
+    "Grab the hamburg wrapped in white paper with one arm and the Red fries box with the other for the plastic tray for carrying items.",
+    "Use both arms to transfer the hamburg with printed wrapper and the Small red box fries inside to the smooth light beige plastic tray.",
+    "Pick up the wrapped hamburg with green design, then the Handheld fries pack bright red color, and place them onto the smooth light beige plastic tray."
+  ],
+  "unseen": [
+    "Grab the small rectangular hamburg and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the small rectangular hamburg and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick up the small rectangular hamburg and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Pick the golden brown hamburg and the Red carton box fries crispy golden, then place them on the medium beige plastic tray.",
+    "Pick up the golden brown hamburg and the Crispy potato fries with red box, then place on the rectangular beige tray.",
+    "Pick up the small rectangular hamburg and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Grab the golden brown food within wrapper and the Crispy potato fries with red box, then set them on the rectangular beige tray",
+    "Pick the small rectangular hamburg and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Place the golden brown food within wrapper and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Use both arms to grab the golden brown food within wrapper and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Grab the small rectangular hamburg and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the golden brown food within wrapper and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the golden brown food within wrapper and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the golden brown food within wrapper and the Golden fries in red carton box, then place them on the medium beige plastic tray.",
+    "Pick up the small rectangular hamburg and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Pick up the golden brown food within wrapper and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Grab the golden brown food within wrapper and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the golden brown hamburg and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Place the golden brown hamburg and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the golden brown hamburg and the Red carton box fries crispy golden and set them on the beige tray with soft edges.",
+    "Grab the small rectangular hamburg and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the golden brown hamburg and the Red carton box fries crispy golden on the beige tray with soft edges.",
+    "Pick up the small rectangular hamburg and the Golden fries in red carton box and place them on the beige tray with soft edges.",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Pick up the golden brown food within wrapper and the Crispy potato fries with red box, then place on the beige tray with soft edges.",
+    "Pick up the small rectangular hamburg and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Grab the golden brown hamburg and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Place the small rectangular hamburg and the Golden fries in red carton box onto the medium beige plastic tray.",
+    "Use both arms to grab the golden brown food within wrapper and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Grab the golden brown food within wrapper and the Crispy potato fries with red box together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the golden brown hamburg and the Crispy potato fries with red box on the beige tray with soft edges.",
+    "Pick up the small rectangular hamburg and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the small rectangular hamburg and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Pick up the small rectangular hamburg and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the golden brown food within wrapper and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Grab the golden brown hamburg and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Pick the golden brown hamburg and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Place the golden brown food within wrapper and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Use both arms to grab the small rectangular hamburg and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the small rectangular hamburg and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the small rectangular hamburg and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Pick up the golden brown hamburg and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Pick the small rectangular hamburg and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Pick up the golden brown food within wrapper and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Pick up the golden brown food within wrapper and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Grab the small rectangular hamburg and the Crispy potato fries with red box, then set them on the medium beige plastic tray",
+    "Pick the small rectangular hamburg and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Place the small rectangular hamburg and the Red carton box fries crispy golden onto the beige tray with soft edges.",
+    "Use both arms to grab the small rectangular hamburg and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Grab the golden brown food within wrapper and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the golden brown hamburg and the Crispy potato fries with red box on the medium beige plastic tray.",
+    "Pick up the golden brown food within wrapper and the Red carton box fries crispy golden and place them on the medium beige plastic tray.",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, then place them on the beige tray with soft edges.",
+    "Pick up the small rectangular hamburg and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the golden brown hamburg and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Grab the golden brown food within wrapper and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Pick the small rectangular hamburg and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Place the golden brown food within wrapper and the Golden fries in red carton box onto the rectangular beige tray.",
+    "Use both arms to grab the golden brown food within wrapper and the Golden fries in red carton box and set them on the beige tray with soft edges.",
+    "Grab the golden brown hamburg and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the small rectangular hamburg and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick up the small rectangular hamburg and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, then place them on the medium beige plastic tray.",
+    "Pick up the golden brown hamburg and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the golden brown hamburg and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Grab the small rectangular hamburg and the Golden fries in red carton box, then set them on the rectangular beige tray",
+    "Pick the small rectangular hamburg and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Place the small rectangular hamburg and the Red carton box fries crispy golden onto the medium beige plastic tray.",
+    "Use both arms to grab the small rectangular hamburg and the Crispy potato fries with red box and set them on the beige tray with soft edges.",
+    "Grab the golden brown food within wrapper and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Use both arms to place the small rectangular hamburg and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the golden brown hamburg and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the golden brown hamburg and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Pick up the golden brown hamburg and the Crispy potato fries with red box, then place on the rectangular beige tray.",
+    "Pick up the golden brown food within wrapper and the Golden fries in red carton box together, then drop on the medium beige plastic tray",
+    "Grab the golden brown hamburg and the Crispy potato fries with red box, then set them on the beige tray with soft edges",
+    "Pick the golden brown hamburg and the Crispy potato fries with red box, place them on the beige tray with soft edges.",
+    "Place the golden brown food within wrapper and the Golden fries in red carton box onto the beige tray with soft edges.",
+    "Use both arms to grab the golden brown food within wrapper and the Crispy potato fries with red box and set them on the medium beige plastic tray.",
+    "Grab the golden brown hamburg and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Use both arms to place the golden brown food within wrapper and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the golden brown hamburg and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Pick up the golden brown hamburg and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Pick up the golden brown food within wrapper and the Crispy potato fries with red box together, then drop on the beige tray with soft edges",
+    "Grab the golden brown hamburg and the Golden fries in red carton box, then set them on the beige tray with soft edges",
+    "Pick the golden brown food within wrapper and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Place the small rectangular hamburg and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Use both arms to grab the golden brown hamburg and the Red carton box fries crispy golden and set them on the medium beige plastic tray.",
+    "Grab the golden brown hamburg and the Golden fries in red carton box together, setting them on the beige tray with soft edges.",
+    "Use both arms to place the golden brown food within wrapper and the Red carton box fries crispy golden on the beige tray with soft edges.",
+    "Pick up the golden brown food within wrapper and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Pick the golden brown food within wrapper and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Pick up the golden brown hamburg and the Crispy potato fries with red box, then place on the medium beige plastic tray.",
+    "Pick up the golden brown food within wrapper and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Grab the golden brown hamburg and the Red carton box fries crispy golden, then set them on the beige tray with soft edges",
+    "Pick the small rectangular hamburg and the Crispy potato fries with red box, place them on the beige tray with soft edges.",
+    "Place the small rectangular hamburg and the Red carton box fries crispy golden onto the rectangular beige tray.",
+    "Use both arms to grab the golden brown hamburg and the Crispy potato fries with red box and set them on the beige tray with soft edges."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001115.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Place the rectangular hamburg box and the Red fries box onto the tray with slightly raised edges after picking them up.",
+    "Grab the green and yellow hamburg container with one arm and the Golden fries sticks in red carton with the other for the tray for holding things.",
+    "Pick up the rectangular hamburg container with smooth finish, grab the Small red box fries inside, place them on the rectangular plastic tray",
+    "With two arms, pick the yellow and green hamburg holder and the Handheld fries pack bright red color for the brown tray with rim.",
+    "Put the rectangular hamburg container with smooth finish and the French fries in red packaging on the tray for holding things using both arms",
+    "Pick up the yellow bottom hamburg box and the Rectangular red carton holding fries, then put them on the flat brown tray with raised edges",
+    "Using both arms, grab the box with green hamburg lid and the Handheld fries pack bright red color for the flat tray with smooth surface.",
+    "Take the yellow and green hamburg holder, take the Rectangular red carton holding fries, and place them onto the rectangular plastic tray.",
+    "Move the yellow bottom hamburg box and the Red fries box onto the brown tray with rim with both arms.",
+    "Move the hamburg box with lid and the Rectangular red carton holding fries to the rectangular tray using both arms.",
+    "Take the green top hamburg box and the Palm-sized red fries container to the brown tray and set them there.",
+    "Lift the green top hamburg box and the Golden fries crispy red package container, placing them neatly on the brown tray with rim.",
+    "Pick the green top hamburg box, then the Handheld fries pack bright red color, and place them on the brown tray.",
+    "Place both the hamburg box with rounded edges and the Small red box fries inside on the brown tray after grabbing them with both arms.",
+    "Place the yellow and green hamburg holder and the Golden fries crispy red package container on the flat brown tray with raised edges after picking them up.",
+    "Using both arms, set the hamburg box with lid and the Bright red box with fries inside onto the dark rectangular serving tray.",
+    "Grab the hamburg box with lid and the Golden fries crispy red package container, use both arms to set on the medium dark brown tray.",
+    "Lift the small hamburg box and the Bright red box with fries inside and position them on the dark rectangular serving tray.",
+    "Using both arms, pick the small hamburg box and the Rectangular red carton holding fries and drop them on the smooth plastic tray.",
+    "Lift the green top hamburg box, lift the Light yellow fries in red holder, then set both on the medium-sized dark brown tray.",
+    "Pick up the hamburg box with lid and the Potato fries packaged in red carton, then put both on the tray for holding things.",
+    "Use both arms to move the green top hamburg box and the Palm-sized red fries container to the tray for holding things.",
+    "Grab the small hamburg box, grab the Palm-sized red fries container, and set both onto the tray for holding things.",
+    "Move the rectangular hamburg box and the French fries in red packaging with dual arms to the tray for holding things.",
+    "Use dual arms to grab the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color and set them on the flat tray with smooth surface.",
+    "Grab the easy-to-carry hamburg box and the Bright red box with fries inside and position them on the rectangular plastic tray.",
+    "Use both arms to move the smooth hamburg box and the Light yellow fries in red holder to the flat tray with smooth surface.",
+    "Grab the green and yellow hamburg container and the French fries in red packaging, then put them on the tray for holding things.",
+    "Pick the smooth hamburg box, the Open-top red box filled with fries, and place them on the brown tray with rim using both arms.",
+    "Set the yellow and green hamburg holder and the Light yellow fries in red holder down on the tray with slightly raised edges after picking them.",
+    "Pick up the rectangular hamburg box, then the Bright red box with fries inside, and place them onto the flat tray with smooth surface.",
+    "Pick the rectangular hamburg box and the Potato fries packaged in red carton, and set them on the medium-sized dark brown tray.",
+    "Move the box with green hamburg lid and the Palm-sized red fries container to the tray with slightly raised edges with both arms",
+    "Use dual arms to move the rectangular hamburg container with smooth finish and the Red fries box onto the dark rectangular serving tray",
+    "Take the yellow and green hamburg holder and the Red fries box with both arms and set on the tray for holding things.",
+    "Position the green and yellow hamburg container and the Red fries box on the tray for holding things with both arms.",
+    "Grab the smooth hamburg box, pick the Golden fries crispy red package container, then set them on the flat brown tray with raised edges",
+    "Place the yellow bottom hamburg box and the Golden fries crispy red package container onto the flat brown tray with raised edges using dual arms",
+    "Using dual arms, lift the small hamburg box and the Rectangular red carton holding fries and drop them on the tray for holding things.",
+    "Grab the green top hamburg box, then the Open-top red box filled with fries, and set them on the medium-sized dark brown tray.",
+    "Lift the green and yellow hamburg container and the Red fries box, position them on the rectangular plastic tray",
+    "With dual arms, move the small hamburg box and the Red fries box onto the medium dark brown tray.",
+    "Place the hamburg box with lid and the French fries in red packaging together onto the medium dark brown tray.",
+    "Using dual arms, move the box with green hamburg lid and the Open-top red box filled with fries onto the brown tray.",
+    "Pick up the green top hamburg box and the Light yellow fries in red holder one by one and place on the tray with slightly raised edges.",
+    "Transfer the easy-to-carry hamburg box and the Red fries box to the tray with slightly raised edges with both arms",
+    "Use dual arms to place the smooth hamburg box and the Golden fries sticks in red carton onto the flat brown tray with raised edges",
+    "Use both arms to transfer the small hamburg box and the Bright red box with fries inside to the brown tray with rim.",
+    "Set the rectangular hamburg container with smooth finish and the Palm-sized red fries container on the smooth plastic tray using two arms.",
+    "Take the yellow and green hamburg holder and the Golden fries sticks in red carton, place them onto the rectangular tray.",
+    "Place the yellow and green hamburg holder and the Handheld fries pack bright red color onto the medium-sized dark brown tray after picking them up.",
+    "Grab the green and yellow hamburg container with one arm and the Light yellow fries in red holder with the other for the rectangular plastic tray.",
+    "Pick up the box with green hamburg lid, grab the French fries in red packaging, place them on the brown tray with rim",
+    "With two arms, pick the green and yellow hamburg container and the Potato fries packaged in red carton for the brown tray.",
+    "Put the easy-to-carry hamburg box and the Red fries box on the medium-sized dark brown tray using both arms",
+    "Pick up the green top hamburg box and the Small red box fries inside, then put them on the dark rectangular serving tray",
+    "Using both arms, grab the small hamburg box and the Potato fries packaged in red carton for the flat tray with smooth surface.",
+    "Take the yellow bottom hamburg box, take the Bright red box with fries inside, and place them onto the brown tray with rim.",
+    "Move the rectangular hamburg box and the French fries in red packaging onto the dark rectangular serving tray with both arms.",
+    "Move the yellow and green hamburg holder and the Golden fries crispy red package container to the rectangular plastic tray using both arms.",
+    "Take the green top hamburg box and the Handheld fries pack bright red color to the smooth plastic tray and set them there.",
+    "Lift the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color, placing them neatly on the dark rectangular serving tray.",
+    "Pick the green and yellow hamburg container, then the Palm-sized red fries container, and place them on the smooth plastic tray.",
+    "Place both the yellow bottom hamburg box and the Palm-sized red fries container on the medium dark brown tray after grabbing them with both arms.",
+    "Place the smooth hamburg box and the Small red box fries inside on the flat brown tray with raised edges after picking them up.",
+    "Using both arms, set the rectangular hamburg box and the Red fries box onto the tray for holding things.",
+    "Grab the box with green hamburg lid and the Red fries box, use both arms to set on the flat brown tray with raised edges.",
+    "Lift the hamburg box with rounded edges and the Small red box fries inside and position them on the brown tray.",
+    "Using both arms, pick the yellow and green hamburg holder and the French fries in red packaging and drop them on the brown tray.",
+    "Lift the hamburg box with rounded edges, lift the Golden fries crispy red package container, then set both on the flat brown tray with raised edges.",
+    "Pick up the green top hamburg box and the Bright red box with fries inside, then put both on the tray with slightly raised edges.",
+    "Use both arms to move the yellow and green hamburg holder and the Rectangular red carton holding fries to the medium-sized dark brown tray.",
+    "Grab the hamburg box with lid, grab the Red fries box, and set both onto the tray with slightly raised edges.",
+    "Move the yellow and green hamburg holder and the Light yellow fries in red holder with dual arms to the medium-sized dark brown tray.",
+    "Use dual arms to grab the yellow and green hamburg holder and the Golden fries crispy red package container and set them on the tray with slightly raised edges.",
+    "Grab the easy-to-carry hamburg box and the Golden fries crispy red package container and position them on the rectangular tray.",
+    "Use both arms to move the rectangular hamburg box and the Potato fries packaged in red carton to the rectangular plastic tray.",
+    "Grab the easy-to-carry hamburg box and the Palm-sized red fries container, then put them on the tray for holding things.",
+    "Pick the box with green hamburg lid, the Bright red box with fries inside, and place them on the flat brown tray with raised edges using both arms.",
+    "Set the yellow and green hamburg holder and the Potato fries packaged in red carton down on the medium-sized dark brown tray after picking them.",
+    "Pick up the hamburg box with lid, then the Bright red box with fries inside, and place them onto the tray with slightly raised edges.",
+    "Pick the rectangular hamburg container with smooth finish and the Handheld fries pack bright red color, and set them on the medium-sized dark brown tray.",
+    "Move the easy-to-carry hamburg box and the Golden fries sticks in red carton to the rectangular tray with both arms",
+    "Use dual arms to move the yellow and green hamburg holder and the Rectangular red carton holding fries onto the medium dark brown tray",
+    "Take the hamburg box with lid and the Light yellow fries in red holder with both arms and set on the medium dark brown tray.",
+    "Position the smooth hamburg box and the Golden fries crispy red package container on the flat brown tray with raised edges with both arms.",
+    "Grab the small hamburg box, pick the Golden fries sticks in red carton, then set them on the rectangular tray",
+    "Place the green and yellow hamburg container and the Handheld fries pack bright red color onto the medium-sized dark brown tray using dual arms",
+    "Using dual arms, lift the green and yellow hamburg container and the Potato fries packaged in red carton and drop them on the flat tray with smooth surface.",
+    "Grab the smooth hamburg box, then the Small red box fries inside, and set them on the tray for holding things.",
+    "Lift the small hamburg box and the Golden fries crispy red package container, position them on the brown tray with rim",
+    "With dual arms, move the yellow and green hamburg holder and the Rectangular red carton holding fries onto the flat brown tray with raised edges.",
+    "Place the yellow bottom hamburg box and the Palm-sized red fries container together onto the tray with slightly raised edges.",
+    "Using dual arms, move the yellow and green hamburg holder and the Small red box fries inside onto the tray for holding things.",
+    "Pick up the box with green hamburg lid and the Open-top red box filled with fries one by one and place on the rectangular plastic tray.",
+    "Transfer the smooth hamburg box and the Open-top red box filled with fries to the tray for holding things with both arms",
+    "Use dual arms to place the rectangular hamburg box and the Potato fries packaged in red carton onto the dark rectangular serving tray",
+    "Use both arms to transfer the yellow and green hamburg holder and the Palm-sized red fries container to the rectangular plastic tray.",
+    "Set the yellow bottom hamburg box and the Palm-sized red fries container on the rectangular tray using two arms.",
+    "Take the smooth hamburg box and the Golden fries sticks in red carton, place them onto the medium-sized dark brown tray."
+  ],
+  "unseen": [
+    "Grab the cardboard hamburg box and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the Golden fries in red carton box on the flat brown serving tray.",
+    "Use both arms to grab the compact hamburg box and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Crispy potato fries with red box, then set them on the tray for carrying items",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, then place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the Crispy potato fries with red box onto the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the flat brown serving tray.",
+    "Use both arms to grab the cardboard hamburg box and the Red carton box fries crispy golden and set them on the medium flat tray.",
+    "Grab the compact hamburg box and the Golden fries in red carton box, then set them on the flat brown serving tray",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Pick up the compact hamburg box and the Red carton box fries crispy golden and place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the medium flat tray.",
+    "Place the stackable hamburg box and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the flat brown serving tray.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box together, then drop on the tray for carrying items",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box together, setting them on the flat brown serving tray.",
+    "Use both arms to place the cardboard hamburg box and the Crispy potato fries with red box on the medium flat tray.",
+    "Use both arms to grab the cardboard hamburg box and the Crispy potato fries with red box and set them on the tray for carrying items.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box, then set them on the tray for carrying items",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, then place them on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden, then place on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Pick the compact hamburg box and the Golden fries in red carton box, place them on the medium flat tray.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Use both arms to grab the stackable hamburg box and the Golden fries in red carton box and set them on the flat brown serving tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, then place them on the tray for carrying items.",
+    "Place the compact hamburg box and the Golden fries in red carton box onto the medium flat tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden, then place on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Crispy potato fries with red box and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the Golden fries in red carton box, place them on the flat brown serving tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box together, setting them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the Golden fries in red carton box, then set them on the medium flat tray",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Golden fries in red carton box onto the tray for carrying items.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box, then place on the tray for carrying items.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden and place them on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick the cardboard hamburg box and the Red carton box fries crispy golden, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the medium flat tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Use both arms to grab the cardboard hamburg box and the Golden fries in red carton box and set them on the medium flat tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the flat brown serving tray.",
+    "Place the cardboard hamburg box and the Crispy potato fries with red box onto the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box and place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box together, then drop on the medium flat tray",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, place them on the tray for carrying items.",
+    "Grab the cardboard hamburg box and the Crispy potato fries with red box together, setting them on the flat brown serving tray.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the medium flat tray.",
+    "Use both arms to grab the compact hamburg box and the Red carton box fries crispy golden and set them on the flat brown serving tray.",
+    "Grab the compact hamburg box and the Red carton box fries crispy golden, then set them on the medium flat tray",
+    "Pick the cardboard hamburg box and the Crispy potato fries with red box, then place them on the medium flat tray.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the tray for carrying items.",
+    "Pick up the compact hamburg box and the Golden fries in red carton box, then place on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Red carton box fries crispy golden together, setting them on the tray for carrying items.",
+    "Use both arms to place the stackable hamburg box and the Crispy potato fries with red box on the medium flat tray.",
+    "Use both arms to grab the stackable hamburg box and the Golden fries in red carton box and set them on the tray for carrying items.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the flat brown serving tray",
+    "Pick the compact hamburg box and the Red carton box fries crispy golden, then place them on the flat brown serving tray.",
+    "Place the stackable hamburg box and the Golden fries in red carton box onto the flat brown serving tray.",
+    "Pick up the stackable hamburg box and the Crispy potato fries with red box, then place on the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the Red carton box fries crispy golden together, then drop on the flat brown serving tray",
+    "Pick the stackable hamburg box and the Crispy potato fries with red box, place them on the flat brown serving tray.",
+    "Grab the stackable hamburg box and the Golden fries in red carton box together, setting them on the tray for carrying items.",
+    "Use both arms to place the compact hamburg box and the Crispy potato fries with red box on the tray for carrying items.",
+    "Use both arms to grab the compact hamburg box and the Crispy potato fries with red box and set them on the medium flat tray.",
+    "Grab the compact hamburg box and the Crispy potato fries with red box, then set them on the medium flat tray",
+    "Pick the cardboard hamburg box and the Golden fries in red carton box, then place them on the tray for carrying items.",
+    "Place the cardboard hamburg box and the Red carton box fries crispy golden onto the medium flat tray.",
+    "Pick up the cardboard hamburg box and the Golden fries in red carton box, then place on the tray for carrying items.",
+    "Pick up the stackable hamburg box and the Golden fries in red carton box and place them on the tray for carrying items.",
+    "Pick up the compact hamburg box and the Crispy potato fries with red box together, then drop on the tray for carrying items",
+    "Pick the stackable hamburg box and the Red carton box fries crispy golden, place them on the tray for carrying items."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001118.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With two arms, pick the white part with orange edges hamburg and the Handheld fries pack bright red color for the smooth texture green tray.",
+    "Place the orange hamburg with white underside and the Palm-sized red fries container on the tray with rounded corners after picking them up.",
+    "Lift the orange hamburg and the Light yellow fries in red holder, position them on the dark green rectangular plastic tray",
+    "Use dual arms to move the hand-sized orange hamburg and the Golden fries crispy red package container onto the dark green serving tray",
+    "Pick the decorative rounded hamburg, the Red fries box, and place them on the flat green rectangular tray using both arms.",
+    "Pick up the yellow marked white and orange hamburg, grab the Red fries box, place them on the flat green rectangular tray",
+    "Move the white part with orange edges hamburg and the Open-top red box filled with fries onto the solid green palm-sized tray with both arms.",
+    "Set the irregular shaped hamburg and the Potato fries packaged in red carton down on the flat green rectangular tray after picking them.",
+    "Using both arms, pick the rounded hamburg with painted details and the Handheld fries pack bright red color and drop them on the tray with rounded corners.",
+    "Grab the orange-white hamburg with yellow highlight, pick the Bright red box with fries inside, then set them on the smooth texture green tray",
+    "Place both the smooth orange and white hamburg and the Handheld fries pack bright red color on the single-piece dark green tray after grabbing them with both arms.",
+    "Position the white part with orange edges hamburg and the Potato fries packaged in red carton on the plastic tray with curved edges with both arms.",
+    "Grab the yellow marked white and orange hamburg and the Potato fries packaged in red carton, then put them on the rectangular green tray.",
+    "Set the small rounded hamburg and the Palm-sized red fries container on the dark green serving tray using two arms.",
+    "Move the irregular shaped hamburg and the Handheld fries pack bright red color with dual arms to the tray for holding objects.",
+    "Using both arms, set the orange hamburg with white underside and the Red fries box onto the flat green rectangular tray.",
+    "Pick up the orange hamburg with white underside and the Bright red box with fries inside, then put them on the plastic tray with curved edges",
+    "Grab the white part with orange edges hamburg with one arm and the Golden fries sticks in red carton with the other for the dark green rectangular plastic tray.",
+    "Place the orange-white hamburg with yellow highlight and the Small red box fries inside onto the tray with rounded corners after picking them up.",
+    "Use both arms to transfer the small rounded hamburg and the Golden fries sticks in red carton to the medium plastic tray.",
+    "Take the yellow marked white and orange hamburg, take the Bright red box with fries inside, and place them onto the smooth texture green tray.",
+    "Grab the hand-sized orange hamburg, grab the Bright red box with fries inside, and set both onto the tray for serving items.",
+    "Pick the yellow marked white and orange hamburg, then the Handheld fries pack bright red color, and place them on the dark green serving tray.",
+    "Using both arms, grab the smooth orange and white hamburg and the Bright red box with fries inside for the rectangular green tray.",
+    "Using dual arms, move the rounded hamburg with painted details and the Red fries box onto the tray with rounded corners.",
+    "With dual arms, move the smooth orange and white hamburg and the Open-top red box filled with fries onto the solid green palm-sized tray.",
+    "Take the smooth orange and white hamburg and the Palm-sized red fries container, place them onto the dark green rectangular plastic tray.",
+    "Using dual arms, lift the yellow marked white and orange hamburg and the Light yellow fries in red holder and drop them on the rectangular green tray.",
+    "Move the hand-sized orange hamburg and the Light yellow fries in red holder to the medium plastic tray with both arms",
+    "Pick up the rounded hamburg with painted details, then the Potato fries packaged in red carton, and place them onto the dark green serving tray.",
+    "Place the rounded hamburg with painted details and the Bright red box with fries inside together onto the tray for serving items.",
+    "Put the orange hamburg and the Bright red box with fries inside on the solid green palm-sized tray using both arms",
+    "Pick the hand-sized orange hamburg and the Potato fries packaged in red carton, and set them on the solid green palm-sized tray.",
+    "Grab the decorative rounded hamburg, then the Palm-sized red fries container, and set them on the tray with rounded corners.",
+    "Use both arms to move the hamburg with yellow mark and the French fries in red packaging to the dark green serving tray.",
+    "Pick up the small rounded hamburg and the Potato fries packaged in red carton one by one and place on the tray for serving items.",
+    "Use dual arms to place the orange-white hamburg with yellow highlight and the Small red box fries inside onto the dark green rectangular plastic tray",
+    "Use dual arms to grab the decorative rounded hamburg and the Potato fries packaged in red carton and set them on the single-piece dark green tray.",
+    "Grab the irregular shaped hamburg and the French fries in red packaging, use both arms to set on the tray for serving items.",
+    "Take the irregular shaped hamburg and the French fries in red packaging with both arms and set on the tray with rounded corners.",
+    "Transfer the irregular shaped hamburg and the Potato fries packaged in red carton to the dark green serving tray with both arms",
+    "Lift the small rounded hamburg and the Palm-sized red fries container and position them on the solid green palm-sized tray.",
+    "Use both arms to move the small rounded hamburg and the French fries in red packaging to the rectangular green tray.",
+    "Lift the yellow marked white and orange hamburg, lift the Red fries box, then set both on the plastic tray with curved edges.",
+    "Pick up the small rounded hamburg and the Small red box fries inside, then put both on the flat green rectangular tray.",
+    "Lift the hamburg with yellow mark and the Golden fries crispy red package container, placing them neatly on the tray for holding objects.",
+    "Take the rounded hamburg with painted details and the Golden fries sticks in red carton to the dark green rectangular plastic tray and set them there.",
+    "Grab the orange hamburg with white underside and the Rectangular red carton holding fries and position them on the tray for holding objects.",
+    "Place the orange-white hamburg with yellow highlight and the Handheld fries pack bright red color onto the plastic tray with curved edges using dual arms",
+    "Move the rounded hamburg with painted details and the Golden fries sticks in red carton to the rectangular green tray using both arms.",
+    "With two arms, pick the yellow marked white and orange hamburg and the Golden fries sticks in red carton for the dark green serving tray.",
+    "Place the orange hamburg with white underside and the Golden fries sticks in red carton on the rectangular green tray after picking them up.",
+    "Lift the small rounded hamburg and the Golden fries crispy red package container, position them on the tray for serving items",
+    "Use dual arms to move the decorative rounded hamburg and the Bright red box with fries inside onto the plastic tray with curved edges",
+    "Pick the white part with orange edges hamburg, the Palm-sized red fries container, and place them on the flat green rectangular tray using both arms.",
+    "Pick up the rounded hamburg with painted details, grab the Golden fries crispy red package container, place them on the medium plastic tray",
+    "Move the hamburg with yellow mark and the Bright red box with fries inside onto the tray for holding objects with both arms.",
+    "Set the hand-sized orange hamburg and the Handheld fries pack bright red color down on the medium plastic tray after picking them.",
+    "Using both arms, pick the yellow marked white and orange hamburg and the Golden fries crispy red package container and drop them on the solid green palm-sized tray.",
+    "Grab the orange hamburg with white underside, pick the Palm-sized red fries container, then set them on the rectangular green tray",
+    "Place both the hand-sized orange hamburg and the Potato fries packaged in red carton on the dark green rectangular plastic tray after grabbing them with both arms.",
+    "Position the irregular shaped hamburg and the Open-top red box filled with fries on the plastic tray with curved edges with both arms.",
+    "Grab the orange hamburg and the French fries in red packaging, then put them on the solid green palm-sized tray.",
+    "Set the small rounded hamburg and the Golden fries crispy red package container on the tray with rounded corners using two arms.",
+    "Move the white part with orange edges hamburg and the Open-top red box filled with fries with dual arms to the dark green serving tray.",
+    "Using both arms, set the orange hamburg with white underside and the Open-top red box filled with fries onto the tray with rounded corners.",
+    "Pick up the hamburg with yellow mark and the Red fries box, then put them on the dark green rectangular plastic tray",
+    "Grab the orange hamburg with white underside with one arm and the French fries in red packaging with the other for the single-piece dark green tray.",
+    "Place the yellow marked white and orange hamburg and the Handheld fries pack bright red color onto the tray for serving items after picking them up.",
+    "Use both arms to transfer the irregular shaped hamburg and the Small red box fries inside to the plastic tray with curved edges.",
+    "Take the smooth orange and white hamburg, take the Light yellow fries in red holder, and place them onto the tray with rounded corners.",
+    "Grab the rounded hamburg with painted details, grab the Small red box fries inside, and set both onto the smooth texture green tray.",
+    "Pick the smooth orange and white hamburg, then the Red fries box, and place them on the solid green palm-sized tray.",
+    "Using both arms, grab the yellow marked white and orange hamburg and the Light yellow fries in red holder for the flat green rectangular tray.",
+    "Using dual arms, move the hamburg with yellow mark and the Golden fries crispy red package container onto the plastic tray with curved edges.",
+    "With dual arms, move the rounded hamburg with painted details and the Potato fries packaged in red carton onto the tray for serving items.",
+    "Take the yellow marked white and orange hamburg and the Light yellow fries in red holder, place them onto the tray for serving items.",
+    "Using dual arms, lift the orange hamburg and the Small red box fries inside and drop them on the smooth texture green tray.",
+    "Move the orange-white hamburg with yellow highlight and the Palm-sized red fries container to the tray for serving items with both arms",
+    "Pick up the orange-white hamburg with yellow highlight, then the Potato fries packaged in red carton, and place them onto the solid green palm-sized tray.",
+    "Place the white part with orange edges hamburg and the Potato fries packaged in red carton together onto the plastic tray with curved edges.",
+    "Put the white part with orange edges hamburg and the Small red box fries inside on the single-piece dark green tray using both arms",
+    "Pick the decorative rounded hamburg and the Light yellow fries in red holder, and set them on the medium plastic tray.",
+    "Grab the decorative rounded hamburg, then the French fries in red packaging, and set them on the tray for holding objects.",
+    "Use both arms to move the small rounded hamburg and the Bright red box with fries inside to the flat green rectangular tray.",
+    "Pick up the irregular shaped hamburg and the Golden fries crispy red package container one by one and place on the smooth texture green tray.",
+    "Use dual arms to place the smooth orange and white hamburg and the Open-top red box filled with fries onto the flat green rectangular tray",
+    "Use dual arms to grab the white part with orange edges hamburg and the Palm-sized red fries container and set them on the dark green serving tray.",
+    "Grab the hamburg with yellow mark and the Small red box fries inside, use both arms to set on the medium plastic tray.",
+    "Take the small rounded hamburg and the Golden fries crispy red package container with both arms and set on the tray for serving items.",
+    "Transfer the rounded hamburg with painted details and the Rectangular red carton holding fries to the medium plastic tray with both arms",
+    "Lift the orange hamburg and the Bright red box with fries inside and position them on the tray for holding objects.",
+    "Use both arms to move the white part with orange edges hamburg and the Potato fries packaged in red carton to the dark green serving tray.",
+    "Lift the small rounded hamburg, lift the Bright red box with fries inside, then set both on the medium plastic tray.",
+    "Pick up the decorative rounded hamburg and the Golden fries sticks in red carton, then put both on the tray with rounded corners.",
+    "Lift the hamburg with yellow mark and the Handheld fries pack bright red color, placing them neatly on the plastic tray with curved edges.",
+    "Take the small rounded hamburg and the Handheld fries pack bright red color to the flat green rectangular tray and set them there.",
+    "Grab the decorative rounded hamburg and the Red fries box and position them on the rectangular green tray.",
+    "Place the hand-sized orange hamburg and the Handheld fries pack bright red color onto the tray with rounded corners using dual arms",
+    "Move the hand-sized orange hamburg and the Golden fries sticks in red carton to the smooth texture green tray using both arms."
+  ],
+  "unseen": [
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to grab the hamburg with soft texture and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with white and orange and the Golden fries in red carton box, then place them on the green tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box and place them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the smooth green tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the smooth green tray.",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the medium green tray for carrying.",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, then place them on the green tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the smooth green tray",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden, then place on the smooth green tray.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Use both arms to place the hamburg with soft texture and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the hamburg with white and orange and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white and orange and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden and place them on the smooth green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the smooth green tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box together, then drop on the green tray",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with white and orange and the Crispy potato fries with red box and set them on the medium green tray for carrying.",
+    "Pick the hamburg with soft texture and the Golden fries in red carton box, then place them on the green tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box, then set them on the green tray",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the smooth green tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden together, setting them on the green tray.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the green tray.",
+    "Pick up the hamburg with white and orange and the Golden fries in red carton box together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Crispy potato fries with red box and set them on the green tray.",
+    "Pick the hamburg with soft texture and the Crispy potato fries with red box, then place them on the medium green tray for carrying.",
+    "Grab the hamburg with white and orange and the Golden fries in red carton box, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden, then place on the green tray.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the smooth green tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the smooth green tray.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the hamburg with white and orange and the Red carton box fries crispy golden, place them on the green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box and place them on the smooth green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the green tray.",
+    "Place the hamburg with white and orange and the Golden fries in red carton box onto the medium green tray for carrying.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the smooth green tray.",
+    "Use both arms to place the hamburg with white and orange and the Crispy potato fries with red box on the smooth green tray.",
+    "Pick up the hamburg with white and orange and the Red carton box fries crispy golden together, then drop on the medium green tray for carrying",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with soft texture and the Red carton box fries crispy golden and set them on the green tray.",
+    "Pick the hamburg with curved surfaces and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box, then set them on the smooth green tray",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box and place them on the green tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box, then place on the green tray.",
+    "Place the hamburg with curved surfaces and the Red carton box fries crispy golden onto the green tray.",
+    "Grab the hamburg with curved surfaces and the Red carton box fries crispy golden together, setting them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with soft texture and the Golden fries in red carton box on the medium green tray for carrying.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the smooth green tray",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the smooth green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Red carton box fries crispy golden and set them on the smooth green tray.",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, then place them on the medium green tray for carrying.",
+    "Grab the hamburg with curved surfaces and the Crispy potato fries with red box, then set them on the smooth green tray",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box and place them on the smooth green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box, then place on the medium green tray for carrying.",
+    "Place the hamburg with curved surfaces and the Crispy potato fries with red box onto the green tray.",
+    "Grab the hamburg with soft texture and the Crispy potato fries with red box together, setting them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with white and orange and the Golden fries in red carton box on the green tray.",
+    "Pick up the hamburg with soft texture and the Golden fries in red carton box together, then drop on the green tray",
+    "Pick the hamburg with curved surfaces and the Red carton box fries crispy golden, place them on the medium green tray for carrying.",
+    "Use both arms to grab the hamburg with soft texture and the Crispy potato fries with red box and set them on the smooth green tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the green tray.",
+    "Grab the hamburg with soft texture and the Red carton box fries crispy golden, then set them on the green tray",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box and place them on the green tray.",
+    "Pick up the hamburg with curved surfaces and the Crispy potato fries with red box, then place on the medium green tray for carrying.",
+    "Place the hamburg with curved surfaces and the Golden fries in red carton box onto the green tray.",
+    "Grab the hamburg with soft texture and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with curved surfaces and the Golden fries in red carton box on the smooth green tray.",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden together, then drop on the green tray",
+    "Pick the hamburg with curved surfaces and the Golden fries in red carton box, place them on the green tray.",
+    "Use both arms to grab the hamburg with curved surfaces and the Golden fries in red carton box and set them on the smooth green tray.",
+    "Pick the hamburg with white and orange and the Crispy potato fries with red box, then place them on the smooth green tray.",
+    "Grab the hamburg with white and orange and the Red carton box fries crispy golden, then set them on the medium green tray for carrying",
+    "Pick up the hamburg with curved surfaces and the Red carton box fries crispy golden and place them on the medium green tray for carrying.",
+    "Pick up the hamburg with curved surfaces and the Golden fries in red carton box, then place on the green tray.",
+    "Place the hamburg with white and orange and the Red carton box fries crispy golden onto the smooth green tray.",
+    "Grab the hamburg with curved surfaces and the Golden fries in red carton box together, setting them on the medium green tray for carrying.",
+    "Use both arms to place the hamburg with soft texture and the Red carton box fries crispy golden on the green tray.",
+    "Pick up the hamburg with soft texture and the Crispy potato fries with red box together, then drop on the medium green tray for carrying"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/place_burger_fries/episode10001126.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the round, soft bread hamburg and the French fries in red packaging, then put them on the tray with rounded rectangular shape",
+    "Pick the round hamburg, the Golden fries sticks in red carton, and place them on the plastic tray for carrying items using both arms.",
+    "Using dual arms, move the hamburg with patterned brown surface and the Red fries box onto the tray with rounded rectangular shape.",
+    "Take the round hamburg and the Potato fries packaged in red carton to the rectangular beige tray for objects and set them there.",
+    "With dual arms, move the medium, squishy hamburg and the Handheld fries pack bright red color onto the plastic tray for carrying items.",
+    "Position the smooth hamburg and the Palm-sized red fries container on the medium rectangular flat tray with both arms.",
+    "Grab the medium-sized hamburg and the Small red box fries inside and position them on the tray with rounded rectangular shape.",
+    "Use dual arms to grab the brownish round hamburg and the Light yellow fries in red holder and set them on the medium beige tray with flat base.",
+    "Use dual arms to place the bread bun hamburg and the Palm-sized red fries container onto the smooth light beige plastic tray",
+    "Use both arms to move the round hamburg and the Open-top red box filled with fries to the light beige smooth tray.",
+    "Pick up the brownish round hamburg, then the Golden fries sticks in red carton, and place them onto the plastic tray for carrying items.",
+    "Using both arms, grab the brownish round hamburg and the Red fries box for the smooth light beige plastic tray.",
+    "Lift the soft brown bread hamburg and the Red fries box, position them on the tray with smooth plastic surface",
+    "Lift the soft brown bread hamburg, lift the Rectangular red carton holding fries, then set both on the light beige smooth tray.",
+    "Grab the hamburg with uneven top with one arm and the Palm-sized red fries container with the other for the smooth rectangular tray.",
+    "Place both the bread bun hamburg and the French fries in red packaging on the plastic tray for carrying items after grabbing them with both arms.",
+    "Grab the soft brown bread hamburg, then the Golden fries sticks in red carton, and set them on the beige tray.",
+    "Place the medium, squishy hamburg and the Small red box fries inside on the smooth light beige plastic tray after picking them up.",
+    "Pick up the hamburg with patterned brown surface and the Red fries box one by one and place on the rectangular beige tray for objects.",
+    "Use dual arms to move the round hamburg and the Red fries box onto the plastic tray for carrying items",
+    "Use both arms to transfer the medium, squishy hamburg and the Rectangular red carton holding fries to the light beige smooth tray.",
+    "Pick the hamburg with white patches, then the Red fries box, and place them on the beige tray.",
+    "Use both arms to move the round, soft bread hamburg and the Light yellow fries in red holder to the beige tray.",
+    "Set the light brown hamburg and the Open-top red box filled with fries on the light beige smooth tray using two arms.",
+    "Grab the medium, squishy hamburg, pick the Palm-sized red fries container, then set them on the tray for holding items",
+    "Take the bread bun hamburg, take the Golden fries crispy red package container, and place them onto the medium rectangular flat tray.",
+    "With two arms, pick the light brown hamburg and the Golden fries sticks in red carton for the light beige smooth tray.",
+    "Place the hamburg with patterned brown surface and the Rectangular red carton holding fries onto the medium rectangular flat tray using dual arms",
+    "Lift the bread bun hamburg and the French fries in red packaging, placing them neatly on the medium rectangular flat tray.",
+    "Move the round hamburg and the Small red box fries inside with dual arms to the medium beige tray with flat base.",
+    "Take the soft brown bread hamburg and the Rectangular red carton holding fries with both arms and set on the light beige smooth tray.",
+    "Pick the smooth hamburg and the Red fries box, and set them on the tray with smooth plastic surface.",
+    "Move the brownish round hamburg and the Golden fries crispy red package container to the medium beige tray with flat base using both arms.",
+    "Lift the hamburg with patterned brown surface and the Red fries box and position them on the tray for holding items.",
+    "Place the hamburg with white patches and the Small red box fries inside onto the medium rectangular flat tray after picking them up.",
+    "Pick up the bread bun hamburg, grab the Palm-sized red fries container, place them on the medium beige tray with flat base",
+    "Move the hamburg with uneven top and the Palm-sized red fries container onto the plastic tray for carrying items with both arms.",
+    "Grab the soft brown bread hamburg and the Light yellow fries in red holder, then put them on the tray with smooth plastic surface.",
+    "Set the brownish round hamburg and the Palm-sized red fries container down on the tray with rounded rectangular shape after picking them.",
+    "Take the bread bun hamburg and the Rectangular red carton holding fries, place them onto the beige tray.",
+    "Using both arms, pick the hamburg with uneven top and the Open-top red box filled with fries and drop them on the beige tray.",
+    "Pick up the light brown hamburg and the Golden fries crispy red package container, then put both on the beige tray.",
+    "Grab the bread bun hamburg and the Small red box fries inside, use both arms to set on the rectangular beige tray for objects.",
+    "Using both arms, set the round, soft bread hamburg and the Light yellow fries in red holder onto the flat tray with rounded corners.",
+    "Grab the smooth hamburg, grab the Red fries box, and set both onto the tray with smooth plastic surface.",
+    "Transfer the bread bun hamburg and the Palm-sized red fries container to the flat tray with rounded corners with both arms",
+    "Using dual arms, lift the round, soft bread hamburg and the Open-top red box filled with fries and drop them on the smooth light beige plastic tray.",
+    "Place the smooth hamburg and the Small red box fries inside together onto the tray with rounded rectangular shape.",
+    "Move the brownish round hamburg and the Handheld fries pack bright red color to the smooth light beige plastic tray with both arms",
+    "Put the medium, squishy hamburg and the French fries in red packaging on the tray for holding items using both arms",
+    "Pick up the round hamburg and the Handheld fries pack bright red color, then put them on the medium rectangular flat tray",
+    "Pick the round hamburg, the Handheld fries pack bright red color, and place them on the tray with smooth plastic surface using both arms.",
+    "Using dual arms, move the round hamburg and the Golden fries sticks in red carton onto the flat tray with rounded corners.",
+    "Take the soft brown bread hamburg and the Rectangular red carton holding fries to the smooth light beige plastic tray and set them there.",
+    "With dual arms, move the round hamburg and the Rectangular red carton holding fries onto the light beige smooth tray.",
+    "Position the light brown hamburg and the Small red box fries inside on the plastic tray for carrying items with both arms.",
+    "Grab the smooth hamburg and the Open-top red box filled with fries and position them on the plastic tray for carrying items.",
+    "Use dual arms to grab the brownish round hamburg and the Potato fries packaged in red carton and set them on the medium beige tray with flat base.",
+    "Use dual arms to place the hamburg with white patches and the Open-top red box filled with fries onto the rectangular beige tray for objects",
+    "Use both arms to move the light brown hamburg and the Bright red box with fries inside to the light beige smooth tray.",
+    "Pick up the bread bun hamburg, then the Bright red box with fries inside, and place them onto the tray with smooth plastic surface.",
+    "Using both arms, grab the hamburg with patterned brown surface and the Light yellow fries in red holder for the medium beige tray with flat base.",
+    "Lift the medium, squishy hamburg and the Palm-sized red fries container, position them on the tray with rounded rectangular shape",
+    "Lift the medium, squishy hamburg, lift the Golden fries crispy red package container, then set both on the tray with smooth plastic surface.",
+    "Grab the hamburg with uneven top with one arm and the Potato fries packaged in red carton with the other for the flat tray with rounded corners.",
+    "Place both the hamburg with patterned brown surface and the Red fries box on the tray for holding items after grabbing them with both arms.",
+    "Grab the light brown hamburg, then the Light yellow fries in red holder, and set them on the medium rectangular flat tray.",
+    "Place the round hamburg and the Open-top red box filled with fries on the medium rectangular flat tray after picking them up.",
+    "Pick up the light brown hamburg and the Potato fries packaged in red carton one by one and place on the plastic tray for carrying items.",
+    "Use dual arms to move the smooth hamburg and the Bright red box with fries inside onto the tray with rounded rectangular shape",
+    "Use both arms to transfer the hamburg with white patches and the Palm-sized red fries container to the tray for holding items.",
+    "Pick the light brown hamburg, then the Bright red box with fries inside, and place them on the tray for holding items.",
+    "Use both arms to move the hamburg with patterned brown surface and the Bright red box with fries inside to the smooth light beige plastic tray.",
+    "Set the round, soft bread hamburg and the Handheld fries pack bright red color on the tray for holding items using two arms.",
+    "Grab the hamburg with uneven top, pick the Red fries box, then set them on the tray with smooth plastic surface",
+    "Take the round hamburg, take the Handheld fries pack bright red color, and place them onto the medium beige tray with flat base.",
+    "With two arms, pick the bread bun hamburg and the Light yellow fries in red holder for the tray for holding items.",
+    "Place the brownish round hamburg and the Small red box fries inside onto the tray with smooth plastic surface using dual arms",
+    "Lift the smooth hamburg and the Golden fries sticks in red carton, placing them neatly on the flat tray with rounded corners.",
+    "Move the medium, squishy hamburg and the Small red box fries inside with dual arms to the medium beige tray with flat base.",
+    "Take the round, soft bread hamburg and the Palm-sized red fries container with both arms and set on the tray with smooth plastic surface.",
+    "Pick the light brown hamburg and the French fries in red packaging, and set them on the tray for holding items.",
+    "Move the bread bun hamburg and the Bright red box with fries inside to the rectangular beige tray for objects using both arms.",
+    "Lift the hamburg with uneven top and the Potato fries packaged in red carton and position them on the medium rectangular flat tray.",
+    "Place the hamburg with uneven top and the French fries in red packaging onto the plastic tray for carrying items after picking them up.",
+    "Pick up the bread bun hamburg, grab the Palm-sized red fries container, place them on the tray with smooth plastic surface",
+    "Move the medium, squishy hamburg and the Open-top red box filled with fries onto the light beige smooth tray with both arms.",
+    "Grab the round hamburg and the Potato fries packaged in red carton, then put them on the smooth light beige plastic tray.",
+    "Set the medium, squishy hamburg and the Light yellow fries in red holder down on the flat tray with rounded corners after picking them.",
+    "Take the hamburg with patterned brown surface and the Golden fries sticks in red carton, place them onto the light beige smooth tray.",
+    "Using both arms, pick the bread bun hamburg and the Red fries box and drop them on the medium rectangular flat tray.",
+    "Pick up the medium-sized hamburg and the Handheld fries pack bright red color, then put both on the plastic tray for carrying items.",
+    "Grab the medium, squishy hamburg and the Small red box fries inside, use both arms to set on the smooth rectangular tray.",
+    "Using both arms, set the bread bun hamburg and the Small red box fries inside onto the tray with smooth plastic surface.",
+    "Grab the round, soft bread hamburg, grab the Potato fries packaged in red carton, and set both onto the flat tray with rounded corners.",
+    "Transfer the brownish round hamburg and the Golden fries crispy red package container to the tray with smooth plastic surface with both arms",
+    "Using dual arms, lift the smooth hamburg and the Palm-sized red fries container and drop them on the tray with smooth plastic surface.",
+    "Place the smooth hamburg and the Small red box fries inside together onto the tray for holding items.",
+    "Move the smooth hamburg and the Rectangular red carton holding fries to the smooth light beige plastic tray with both arms",
+    "Put the round, soft bread hamburg and the Golden fries crispy red package container on the light beige smooth tray using both arms"
+  ],
+  "unseen": [
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick the palm-sized hamburg and the Crispy potato fries with red box, then place them on the medium beige plastic tray.",
+    "Place the palm-sized hamburg and the Golden fries in red carton box onto the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with white sides and the Crispy potato fries with red box, place them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the rectangular beige tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box together, setting them on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the beige tray with soft edges.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with white sides and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden, then set them on the rectangular beige tray",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the rectangular beige tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the medium beige plastic tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden and place them on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the rectangular beige tray.",
+    "Pick up the palm-sized hamburg and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, then place them on the medium beige plastic tray.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with light brown top and the Red carton box fries crispy golden and set them on the beige tray with soft edges.",
+    "Pick up the palm-sized hamburg and the Golden fries in red carton box, then place on the beige tray with soft edges.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with white sides and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the beige tray with soft edges",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the medium beige plastic tray.",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the palm-sized hamburg and the Red carton box fries crispy golden, place them on the beige tray with soft edges.",
+    "Use both arms to place the hamburg with light brown top and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the rectangular beige tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Place the hamburg with white sides and the Golden fries in red carton box onto the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Use both arms to place the palm-sized hamburg and the Red carton box fries crispy golden on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box together, setting them on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Place the hamburg with white sides and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the rectangular beige tray.",
+    "Grab the hamburg with light brown top and the Golden fries in red carton box, then set them on the medium beige plastic tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the rectangular beige tray.",
+    "Use both arms to place the hamburg with light brown top and the Red carton box fries crispy golden on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Red carton box fries crispy golden and place them on the beige tray with soft edges.",
+    "Grab the hamburg with white sides and the Golden fries in red carton box together, setting them on the medium beige plastic tray.",
+    "Pick up the palm-sized hamburg and the Crispy potato fries with red box together, then drop on the medium beige plastic tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the beige tray with soft edges.",
+    "Place the hamburg with light brown top and the Golden fries in red carton box onto the medium beige plastic tray.",
+    "Use both arms to grab the hamburg with white sides and the Red carton box fries crispy golden and set them on the beige tray with soft edges.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the medium beige plastic tray.",
+    "Grab the hamburg with white sides and the Crispy potato fries with red box, then set them on the medium beige plastic tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Use both arms to place the palm-sized hamburg and the Golden fries in red carton box on the beige tray with soft edges.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box and place them on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden together, then drop on the medium beige plastic tray",
+    "Pick the hamburg with white sides and the Red carton box fries crispy golden, then place them on the rectangular beige tray.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the beige tray with soft edges.",
+    "Use both arms to grab the palm-sized hamburg and the Crispy potato fries with red box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the medium beige plastic tray.",
+    "Grab the hamburg with light brown top and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with white sides and the Golden fries in red carton box on the rectangular beige tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box and place them on the rectangular beige tray.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden together, setting them on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Crispy potato fries with red box together, then drop on the rectangular beige tray",
+    "Pick the hamburg with light brown top and the Golden fries in red carton box, then place them on the rectangular beige tray.",
+    "Place the hamburg with light brown top and the Crispy potato fries with red box onto the medium beige plastic tray.",
+    "Use both arms to grab the palm-sized hamburg and the Golden fries in red carton box and set them on the rectangular beige tray.",
+    "Pick up the hamburg with light brown top and the Golden fries in red carton box, then place on the rectangular beige tray.",
+    "Grab the palm-sized hamburg and the Red carton box fries crispy golden, then set them on the medium beige plastic tray",
+    "Pick the hamburg with light brown top and the Red carton box fries crispy golden, place them on the medium beige plastic tray.",
+    "Use both arms to place the hamburg with light brown top and the Crispy potato fries with red box on the rectangular beige tray.",
+    "Pick up the hamburg with white sides and the Crispy potato fries with red box and place them on the beige tray with soft edges.",
+    "Grab the hamburg with white sides and the Red carton box fries crispy golden together, setting them on the beige tray with soft edges.",
+    "Pick up the hamburg with white sides and the Golden fries in red carton box together, then drop on the rectangular beige tray",
+    "Pick the hamburg with light brown top and the Crispy potato fries with red box, then place them on the rectangular beige tray.",
+    "Place the palm-sized hamburg and the Crispy potato fries with red box onto the rectangular beige tray.",
+    "Use both arms to grab the hamburg with light brown top and the Golden fries in red carton box and set them on the medium beige plastic tray.",
+    "Pick up the hamburg with light brown top and the Red carton box fries crispy golden, then place on the beige tray with soft edges.",
+    "Grab the palm-sized hamburg and the Golden fries in red carton box, then set them on the beige tray with soft edges",
+    "Pick the palm-sized hamburg and the Golden fries in red carton box, place them on the medium beige plastic tray."
+  ]
+}